Guide robot control device, guidance system using same, and guide robot control method

ABSTRACT

A server (3) includes a robot control unit (3j) that controls a motion of a robot; a user dynamic data recognition unit (3a1) that recognizes user dynamic data at a plurality of time points during guidance; an emotion estimation unit (3k) that estimates a current emotion of a user at the plurality of time points, based on the user dynamic data, and generates evaluation data being data in which the motion of the robot and the current emotion are associated with each other; and an evaluation data storage unit (3l) that stores the evaluation data in time series.

TECHNICAL FIELD

The present invention relates to a guide robot control device forcontrolling a robot that moves with a user and guides the user to adestination, a guidance system using the same, and a guide robot controlmethod.

BACKGROUND ART

There has been conventionally proposed a guidance system that causes anautonomous mobile robot to move with a user to guide the user. A knownguidance system of this type recognizes a walking speed and movementdirection of the user by means of detection means such as a cameraequipped in the robot and, based on the recognition result, controls themovement of the robot (see, for example, Patent Literature 1).

CITATION LIST Patent Literature

Patent Literature 1: Japanese Patent Laid-Open No. 2003-340764

SUMMARY OF INVENTION Technical Problem

The user, in the case of being guided by the guidance system describedin Patent Literature 1, may feel stressed depending on a motion of therobot and accordingly may not be satisfied with the service.

However, it has been difficult to precisely grasp the user's specificevaluation with respect to a motion (for example, whether the user feltsatisfied or unsatisfied).

The present invention has been made in view of the above, and an objectof the present invention is to provide a guide robot control devicecapable of grasping user's evaluation with respect to a motion of arobot with high accuracy, a guidance system using the same, and a guiderobot control method.

Solution to Problem

A guide robot control device of the present invention is

a guide robot control device for controlling a robot that moves with auser and guides the user to a destination, and the device comprises

a robot control unit that controls a motion of the robot,

a user dynamic data recognition unit that, at a plurality of time pointsduring guidance, recognizes user dynamic data being information on theuser that changes over time,

an emotion estimation unit that estimates a current emotion being acurrent emotion of the user at the plurality of time points, based onthe user dynamic data, and generates evaluation data being data in whicha motion of the robot at a time of guiding the user and the currentemotion of the user are associated with each other, and

an evaluation data storage unit that stores the generated evaluationdata in time series.

Here, “user dynamic data” represents, of data on the user, data onthings that change over time (for example, things that change during theguidance). Specifically, there may be mentioned a behavior of the user,biological information, and the like.

In the guide robot control device of the present invention configured asdescribed above, the motion of the robot associated with the currentemotion of the user estimated based on the behavior of the user at thetime of the motion (that is, the user dynamic data) is collected as theevaluation data.

As a result, the collected evaluation data clearly indicates a relevancebetween the motion of the robot and a change in the emotion of the user(that is, satisfaction), compared with data based on a questionnaireresult performed after the end of the guidance, or the like.

Thus, according to the guide robot control device of the presentinvention, it is possible to collect evaluation data effective forgrasping user's satisfaction with respect to a motion of the robot withhigh accuracy. Consequently, a motion of the robot is set with referenceto the evaluation data, so that the user can receive the guidance withless stress.

Furthermore, in the guide robot control device of the present invention,preferably,

there is provided an environmental dynamic data recognition unit thatrecognizes environmental dynamic data being information on a guidancearea that changes over time, and

the evaluation data storage unit stores the evaluation data associatedwith environmental dynamic data being information on a guidance areathat changes over time.

Here, “environmental dynamic data” represents, of data on theenvironment of the guidance area, data on things that change over time(for example, things that change during the guidance). For example,there may be mentioned an event such as a degree of congestion in theguidance area.

The environmental dynamic data greatly affects the emotion of the user.Thus, in the case where the evaluation data is also associated with theenvironmental dynamic data, the evaluation data can be evaluation datamore effective for grasping user's satisfaction with respect to a motionof the robot with high accuracy.

Furthermore, in the guide robot control device of the present invention,preferably,

the user dynamic data recognition unit determines whether the userdynamic data corresponds to predetermined user dynamic data, and

the emotion estimation unit, when it is determined that the user dynamicdata is the predetermined user dynamic data, estimates the currentemotion of the user.

As a method for grasping user's satisfaction with respect to theguidance, a method for constantly estimating an emotion is considered.However, in such a case where an emotion is estimated constantly, it maybe difficult to grasp which motion of the robot the estimated emotioncorresponds to. On the other hand, some of the user dynamic data isperformed when an emotion changes. For example, when the user frowns, itcan be considered that the user has felt some dissatisfaction.

Thus, in the case where the current emotion is estimated when therecognized user dynamic data corresponds to the predetermined userdynamic data set in advance, it becomes easier to grasp which motion ofthe robot the current emotion corresponds to. As a result, the obtainedevaluation data can be made more effective.

Furthermore, in the guide robot control device of the present invention,preferably,

the emotion estimation unit, when the robot performs a predeterminedmotion, estimates the current emotion of the user.

As a method for grasping user's satisfaction with respect to theguidance, a method for constantly grasping a behavior of the user isconsidered. However, in such a case where a behavior of the user isgrasped constantly, it may be difficult to grasp which motion of therobot the behavior corresponds to.

Thus, in the case where the current emotion is estimated when the robotperforms the predetermined motion set in advance, it becomes easier tograsp which motion of the robot a change in the emotion of the usercorresponds to. As a result, the obtained evaluation data can be mademore effective.

Furthermore, in the guide robot control device of the present invention,preferably,

the emotion estimation unit estimates, based on the user dynamic data, areference emotion being an emotion of the user that serves as areference, and

the evaluation data storage unit stores the evaluation data associatedwith a change in the current emotion with respect to the referenceemotion of the user at a time of the motion.

In the case where the reference emotion is thus set and the change withrespect to the reference emotion is referred to, a change in the emotionof the user with respect to each motion of the robot (as a result of themotion, whether it becomes favorable or worse, or the like) can begrasped more precisely.

Furthermore, in the guide robot control device of the present invention,in the case of a configuration in which the reference emotion isdefined, preferably,

the emotion estimation unit estimates the reference emotion based on theuser dynamic data at start of the guidance.

Thus, in the case where the reference emotion serving as a reference ofevaluation of satisfaction is one at the start of the guidance,satisfaction with respect to the guidance can be grasped with evenhigher accuracy.

Furthermore, in the guide robot control device of the present invention,preferably,

the evaluation data storage unit stores the current emotion of the userat end of the guidance.

With this configuration, not only satisfaction with respect to eachmotion of the robot but also satisfaction with the entire guidance canbe grasped with even higher accuracy.

Furthermore, in the guide robot control device of the present invention,preferably,

the emotion estimation unit estimates, based on the user dynamic data atstart of the guidance, a reference emotion being an emotion of the userthat serves as a reference, and

the evaluation data storage unit stores a change in the current emotionwith respect to the reference emotion of the user at end of theguidance.

In the case where the reference emotion is thus set and the change withrespect to the reference emotion is referred to, user's satisfactionwith respect to the entire guidance can be grasped more precisely.

Furthermore, a guidance system of the present invention comprises

a robot that moves with a user and guides the user to a destination, and

the guide robot control device according to any of the above.

Furthermore, a guide robot control method of the present invention is

a guide robot control method for controlling a robot that moves with auser and guides the user to a destination, and the method comprises

a step in which a robot control unit controls a motion of the robot,

a step in which a user dynamic data recognition unit recognizes, at aplurality of time points during guidance, user dynamic data beinginformation on the user that changes over time,

a step in which an emotion estimation unit estimates a current emotionbeing a current emotion of the user at the plurality of time points,based on the user dynamic data,

a step in which the emotion estimation unit generates evaluation databeing data in which a motion of the robot at a time of guiding the userand the current emotion of the user are associated with each other, and

a step in which an evaluation data storage unit stores the generatedevaluation data in time series.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is an explanatory view schematically illustrating a configurationof a guidance system according to an embodiment.

FIG. 2 is a side view illustrating an example of a reception terminal ofthe guidance system of FIG. 1.

FIG. 3 is a side view illustrating an example of a robot of the guidancesystem of FIG. 1.

FIG. 4 is a block diagram illustrating a configuration according tomotion control of the robot of FIG. 3.

FIG. 5 is a block diagram illustrating a configuration of a guide robotcontrol device of the guidance system of FIG. 1.

FIG. 6 is an explanatory view of an emotion model that is used inemotion estimation.

FIG. 7 is a flowchart illustrating processing that the guidance systemof FIG. 1 performs when determining a guidance route at start ofguidance.

FIG. 8 is a schematic view illustrating a map of an airport where theuser is guided by the guidance system of FIG. 1.

FIG. 9 is a flowchart illustrating, of processing that the guidancesystem of FIG. 1 performs when changing a guidance route duringguidance, processing until a content of the change of the guidance routeis determined.

FIG. 10 is a flowchart illustrating, of the processing that the guidancesystem of FIG. 1 performs when changing a guidance route duringguidance, processing until the change of the guidance route is executed.

FIG. 11 is a flowchart illustrating processing that the guidance systemof FIG. 1 performs when determining a guidance speed at start ofguidance.

FIG. 12 is a flowchart illustrating, of processing that the guidancesystem of FIG. 1 performs when changing a guidance speed duringguidance, processing until a content of the change of the guidance speedis determined.

FIG. 13 is a flowchart illustrating, of the processing that the guidancesystem of FIG. 1 performs when changing a guidance speed duringguidance, processing until the change of the guidance speed is executed.

FIG. 14 is a schematic view illustrating an example of a relativeposition between the user and the robot.

FIG. 15 is a flowchart illustrating processing that the guidance systemof FIG. 1 performs when determining a target position immediately afterstart of guidance.

FIG. 16 is a graph illustrating an example of a change in relativedistance between the user and the robot, in which the horizontal axisindicates time and the vertical axis indicates the relative distance.

FIG. 17 is a flowchart illustrating, of processing that the guidancesystem of FIG. 1 performs when changing a target position duringguidance, processing until a content of the change of the targetposition is determined.

FIG. 18 is a flowchart illustrating, of the processing that the guidancesystem of FIG. 1 performs when changing a target position duringguidance, processing until the change of the target position isexecuted.

FIG. 19 is a flowchart illustrating processing that the guidance systemof FIG. 1 performs when estimating evaluation.

FIG. 20 is a graph illustrating an example of a change in emotion of theuser, in which the horizontal axis indicates time and the vertical axisindicates a degree of whether the emotion is negative or positive.

DESCRIPTION OF EMBODIMENT

Hereinafter, a configuration of a guidance system S according to anembodiment will be described with reference to the drawings.

In the following description, a case will be described in which aguidance area which is an area where a user is guided by a robot is anairport, and in which a guide robot control device, guidance systemusing the same, and guide robot control method of the present inventionare applied to a system for guiding the user in the airport.

However, the guide robot control device, guidance system using the same,and guide robot control method of the present invention may be appliedto a system that is used in a guidance area other than an airport aslong as the system is for performing guidance by using a robot thatmoves with a user and guides the user to a destination.

First, a schematic configuration of the guidance system S will bedescribed with reference to FIGS. 1 to 6.

As illustrated in FIG. 1, the guidance system S comprises a receptionterminal 1, a plurality of robots 2 that each moves with a user andguides the user to a destination, and a server 3 (guide robot controldevice) that receives information from the reception terminal 1 (seeFIG. 7) installed in a plurality of locations in an airport serving as aguidance area, the robot 2, and a monitoring system 4 (not illustratedin FIG. 1, see FIG. 3) including a monitoring camera or the likeinstalled in the guidance area, and that controls the robot 2 based onthe information.

In the present embodiment, for facilitation of the understanding, thereception terminal 1 is installed in the airport serving as the guidancearea, and the plurality of robots 2 is operated. However, the guidancesystem of the present invention is not limited to such a configuration.For example, a portable terminal of the user (for example, a smartphone,a tablet) may be used instead of the reception terminal 1 or may be usedin combination therewith.

Furthermore, the number of the reception terminals and the number of therobots may be set as necessary according to properties of the guidancearea (the size, the number of the users, and the like). For example, inthe case of a facility having a smaller guidance area, one receptionterminal and one robot may be provided, or only one robot may beinstalled and only a portable terminal of the user may be used insteadof the reception terminal.

The reception terminal 1 is a terminal for accepting an application thatthe user desires the use in the guidance area.

As illustrated in FIG. 2, the reception terminal 1 comprises a firsttouch panel 1 a, a keyboard 1 b, a first microphone 1 c, a first speaker1 d, and a first camera 1 e. In the reception terminal 1, an input unitincludes the first touch panel 1 a, the keyboard 1 b, and the firstmicrophone 1 c, and an output unit includes the first touch panel 1 aand the first speaker 1 d.

The user, via the input unit of the reception terminal 1, inputs adestination and a desired arrival time to the destination and answers aquestionnaire displayed on the output unit of the reception terminal 1.As contents of the questionnaire, for example, there may he mentioned aname, age, gender, chronic disease, presence or absence of disability,pregnancy status, presence or absence of companion, a past use history,and a course of the user to arrive at the guidance area. During thisinput and answer, the user is photographed by the first camera 1 e.

These pieces of information may be input via a terminal owned by theuser (for example, a personal computer, a smartphone, a tablet), beforearrival at the guidance area, during a flight reservation, or the like.

Furthermore, these pieces of information may be input at timingsdifferent for each information by using in combination the receptionterminal 1 and the terminal owned by the user. Specifically, forexample, a barcode indicating information such as a name of the user, aflight to be used, a boarding gate, and boarding time may be presentedon a boarding pass for an aircraft, and the user may read the barcode byusing a barcode reader provided in the reception terminal 1, a cameraequipped in the terminal owned by the user, or the like to input theinformation.

As illustrated in FIG. 3, the robot 2 is configured as a so-calledinverted pendulum vehicle. The robot 2 comprises a lower base 20, amoving motion unit 21 provided in the lower base 20 and movable on aroad surface, and an upper base 22 pivotable with respect to the lowerbase 20 around the yaw axis. The robot 2 is configured to be capable ofmoving on the road surface in all directions (any direction) by means ofthe moving motion unit 21.

The inside of the lower base 20 is equipped with a first actuator 20 athat rotationally drives a core body 21 a of the moving motion unit 21,which will be described later, a second actuator 20 b that rotationallydrives each of rollers 21 b of the moving motion unit 21, which will bedescribed later, and a third actuator 20 c that pivots the upper base22. Each of these actuators includes a known structure such as anelectric motor or a hydraulic actuator.

Furthermore, the first actuator 20 a, the second actuator 20 b, and thethird actuator 20 c respectively apply a driving force to the core body21 a, each of the rollers 21 b, and the upper base 22 via a powertransmission mechanism, which is not illustrated. This powertransmission mechanism includes a known structure.

The moving motion unit 21 has the core body 21 a having an annularshape, and a plurality of the rollers 21 b having an annular shape andinserted into the core body 21 a from outside such that the plurality ofrollers 21 b is arranged at equal angular intervals in thecircumferential direction of this core body 21 a (axial centercircumferential direction). In FIG. 3, only some of the rollers 21 b areillustrated representatively.

Each of the rollers 21 b is rotatable integrally with the core body 21 aaround an axial center of the core body 21 a. Furthermore, each of therollers 21 b is rotatable around a central axis of a cross section ofthe core body 21 a at the arrangement position of each of the rollers 21b (an axis in the tangential direction of a circumference centered onthe axial center of the core body 21 a).

The moving motion unit 21 configured as described above is movable onthe road surface in all directions by one or both of rotational drivingof the core body 21 a around its axial center and rotational driving ofeach of the rollers 21 b around its axial center, in the state where therollers 21 b at a lower part of the moving motion unit 21 are in contactwith the road surface (a floor surface, a ground surface, or the like)in a movement environment of the robot 2.

The upper base 22 comprises a second touch panel 22 a, a secondmicrophone 22 b, and a second speaker 22 c. In the upper base 22, aninput unit includes the second touch panel 22 a and the secondmicrophone 22 b, and an output unit includes the second touch panel 22 aand the second speaker 22 c.

The upper base 22, via the output unit thereof, presents a change of aguidance content to the user. Furthermore, the user, via the input unitthereof, inputs an answer to the proposal and a request for the changeof the guidance content.

Furthermore, the upper base 22 is provided with a second camera 22 d.The user and environments around the user and the robot 2 arephotographed by this second camera 22 d.

Furthermore, although not illustrated in FIG. 3, as illustrated in FIG.4, the robot 2 is equipped with various sensors for acquiring aninstruction of the user, a motion state or external state (surroundingenvironment) of the robot 2, and the like, and is equipped with, ascomponents for motion control of the robot 2, a control device 23 formedof an electronic circuit unit including a CPU, a RAM, a ROM, aninterface circuit, and the like, and a communication device 24 forperforming wireless communication between the server 3 and the controldevice 23.

The various sensors equipped in the robot 2 include the second touchpanel 22 a and the second microphone 22 b that are for accepting aninstruction of the user, and the second camera 22 d as an externalrecognition sensor for recognizing objects (humans, moving objects,installed objects, and the like) present n the surrounding environmentof the robot 2.

The external recognition sensor may be any sensor that can recognize thesurrounding environment of the robot 2 during the guidance and at leastone of a behavior of the user and biological information of the user.Accordingly, as the external recognition sensor, instead of the secondcamera 22 d or in addition to the second camera 22 d, for example, adistance measuring sensor such as a laser range finder, or a radardevice may be used.

Furthermore, in the case where the robot 2 additionally comprises,independently of the second camera 22 d, a sensor for controlling abehavior of the robot 2 (for example, a camera for photographing in thetraveling direction), the sensor, instead of the second camera 22 d orin addition to the second camera 22 d, may be used as the externalrecognition sensor.

Here, specifically, “during guidance” represents a period from the startof the guidance to the end of the guidance. Furthermore, “before startof guidance” represents a stage before the guidance by the robot 2 isexecuted. For example, it also includes a period from when the userperforms an input to the reception terminal 1 or when the user arrivesat the guidance area, until before the user and the robot 2 meet.

The behavior of the user represents one including at least one of amovement speed of the user, a posture of the user, an expression of theuser, an utterance of the user, and a motion of a predetermined portionof a body of the user. Furthermore, the biological information of theuser represents one including at least one of a body temperature of theuser, a sweating state of the user, and an emotion of the user estimatedbased on at least one of the body temperature of the user, the sweatingstate of the user, and the behavior of the user.

Furthermore, although not illustrated in FIG. 3, the various sensorsalso include an acceleration sensor 25 for detecting acceleration of therobot 2, a position sensor 26 for detecting a self-position of the robot2 and a position of the user being guided by the robot 2, and the like.

Outputs (detection data) of the second touch panel 22 a, the secondmicrophone 22 b, the acceleration sensor 25, the position sensor 26, andthe like are input to the control device 23.

The control device 23 has, as functions to be implemented by installedhardware configurations or programs (software configurations), afunction of performing motion control of the first actuator 20 a, secondactuator 20 b, and third actuator 20 c (consequently, movement controlof the moving motion unit 21 and pivot control of the upper base 22),and a function of performing output control of the second touch panel 22a and second speaker 22 c.

The communication device 24 transmits to the server 3 the outputs(detection data) of the various sensors and control contents of thecontrol device 23. Furthermore, the communication device 24 receives aninstruction of the server 3.

As illustrated in FIG. 5, the server 3 comprises, as functions to beimplemented by installed hardware configurations or programs, a datarecognition unit 3 a, a relative position recognition unit 3 b, aguidance request estimation unit 3 c, a request estimation data storageunit 3 d, a map storage unit 3 e, a guidance action determination unit 3f, a priority storage unit 3 g, a notification instruction unit 3 h, areaction recognition unit 3 i, a robot control unit 3 j, an emotionestimation unit 3 k, and an evaluation data storage unit 3 l.

The data recognition unit 3 a recognizes data on the user and theguidance area before the start of the guidance and during the guidance,based on information collected via the reception terminal 1, the robot2, and the monitoring system 4.

Specifically, the data recognition unit 3 a, by means of a user dynamicdata recognition unit 3 a 1, recognizes user dynamic data beinginformation on the user that changes over time, based on an imagecaptured by the reception terminal 1 or the robot 2 and a sound acquiredby the reception terminal 1 or the robot 2.

Here, “user dynamic data” represents, of data on the user, data onthings that change over time (for example, things that change during theguidance). Specifically, there may be mentioned a behavior of the user,biological information, and the like.

The user dynamic data recognition unit 3 a 1 also determines whether therecognized user dynamic data is predetermined user dynamic data servingas a trigger of change of the guidance content or emotion estimation.

Furthermore, the data recognition unit 3 a, by means of a user staticdata recognition unit 3 a 2, recognizes user static data beinginformation on the user that does not change over time, based on acontent input by the user to the reception terminal 1 and an answer tothe questionnaire presented via the reception terminal 1.

Here, “user static data” represents, of data on the user, data on thingsthat do not change over time (for example, things that do not changeduring the guidance). For example, there may be mentioned information onattributes of the user such as a name, age, gender, chronic disease,presence or absence of disability, pregnancy status, and presence orabsence of companion, and, of data on actions of the user such asarrival time to a destination to which the user requests to be guided, apast guidance history of the user, and a course of the user to arrive atthe guidance area, things that, do not change depending on the futureactions of the user.

Furthermore, the data recognition unit 3 a, by means of an environmentaldynamic data recognition unit 3 a 3, recognizes environmental dynamicdata being information on the guidance area that changes over time,based on an image captured by the robot 2 and a sound acquired by therobot 2.

Mere, “environmental dynamic data” represents, of data on theenvironment of the guidance area, data on things that change over time(for example, things that change during the guidance). For example,there may be mentioned an event such as a degree of congestion in theguidance area.

The environmental dynamic data recognition unit 3 a 3 also determineswhether the recognized environmental dynamic data is predeterminedenvironmental dynamic data serving as a trigger of change of theguidance content or emotion estimation.

Furthermore, the data recognition unit 3 a, by means of an environmentalstatic data recognition unit 3 a 4, recognizes environmental static databeing information on the guidance area that does not change over time,based on information from the map storage unit 3 e, which will bedescribed later.

Mere, “environmental static data” represents, of data on the environmentof the guidance area, data on things that do not change over tune (forexample, things that do not change during the guidance). For example,there may be mentioned positions of a store and a facility in theguidance area and an event being held.

The relative position recognition unit 3 b recognizes a relativeposition of the robot 2 with respect to the user, based on informationcollected via the robot 2 and the monitoring system 4.

Here, “relative position” may represent only a distance from the user tothe robot or only a direction in which the robot is located with respectto the user and also may represent a degree of a change in the relativeposition during turning or the like.

Furthermore, here, “direction” represents a direction of the robot withrespect to the user in a plane parallel to movement surfaces of the userand the robot. For example, it represents, in the case where the userand the robot move on level ground, in a plan view, a slope (angle) of aline passing through the center of the body of the user and the centerof the robot 2 with respect to a line passing through the center of thebody of the user and extending in the front-rear direction (a lineincluded in a sagittal plane) (see FIG. 14).

The relative position recognition unit 3 b of the present embodimentrecognizes, as the relative position, a distance from the user to therobot 2 and a direction in which the robot 2 is located with respect tothe user, based on information collected by at least one of the robot 2and the monitoring system 4.

The guidance request estimation unit 3 c estimates a guidance request ofthe user before the start of the guidance and during the guidance, basedon the user dynamic data, the user static data, the environmentaldynamic data, and the environmental static data that are recognized bythe data recognition unit 3 a, request estimation data stored in therequest estimation data storage unit 3 d, which will be described later,and map information being information on the guidance area stored in themap storage unit 3 e, which will be described later (specifically, ofthe map information, information on the vicinity of a current locationof the user).

Here, “guidance request” represents a user's request with respect to theguidance. This guidance request includes not only a request clearlyexpressed by the user but also a request that the user potentially has.

Thus, the guidance request estimation unit 3 c estimates the guidancerequest of the user, based on the user dynamic data, the user staticdata, the environmental dynamic data, the environmental static data, therequest estimation data, and the map information.

This is because in the case where, in addition to the user dynamic data,at least one of the user static data, the environmental dynamic data,and the environmental static data is referred to at the time ofestimation of the guidance request of the user, the guidance action canbe made more suitable for the user.

However, the guidance request estimation unit of the present inventionmay be any unit that estimates the guidance request of the user based onthe user dynamic data. Accordingly, functions that the guide robotcontrol device comprises may be changed as necessary according to thetype of information that the guidance request estimation unit uses.

Specifically, for example, in the present embodiment, any of the userstatic data recognition unit 3 a 2, environmental dynamic datarecognition unit 3 a 3, and environmental static data recognition unit 3a 4 of the data recognition unit 3 a, the request estimation datastorage unit 3 d, and the map storage unit 3 e may be omitted.

Thus, the guidance request estimation unit 3 c, before the start of theguidance and during the guidance, estimates the guidance request of theuser. This is to ensure that the guidance action corresponds to theguidance request of the user from the start of the guidance.

However, the guidance request estimation unit of the present inventionmay be any unit that estimates the guidance request of the user duringthe guidance. Accordingly, estimation of the guidance request of theuser before the start of the guidance may be omitted.

The request estimation data storage unit 3 d stores the requestestimation data indicating a relationship between the user dynamic datain the previous or earlier guidance and the guidance request estimatedbased on the user dynamic data. As described above, the guidance requestestimation unit 3 c refers to the request estimation data stored in therequest estimation data storage unit 3 d and estimates the guidancerequest of the user.

This is because some of the actions of the user with respect to theguidance request (that is, the user dynamic data) can be generalized,and thus by referring to such request estimation data, the guidancerequest of the user is estimated with high accuracy.

However, the guide robot control device of the present invention is notlimited to such a configuration. For example, the request estimationdata may not be referred to at the time of estimation of the guidancerequest of the user. In such a case, the request estimation data storageunit may be omitted.

Furthermore, the request estimation data storage unit 3 d, upon theguidance request estimation unit 3 c estimating the guidance request ofthe user, stores the request estimation data on the estimation.

This is because the request estimation data that can be referred to isaccumulated to increase data that can be referred to at the time of thenext or later estimation of the guidance request, so that the next orlater estimation of the guidance request of the user is performed witheven higher accuracy.

However, the guide robot control device of the present invention is notlimited to such a configuration. For example, in the case where therequest estimation data is separately prepared in advance, the requestestimation data may not be stored upon the estimation.

The request estimation data is associated with the user static data onthe user relating to the estimation. This is because at the time of thenext or later reference to the request estimation data, the requestestimation data associated with the user static data (attribute) similarto that of the user to be guided can be referred to, so that theguidance request is estimated more precisely.

The request estimation data may not be necessarily stored in associationwith the user static data. The reason is because, for example, in thecase of a facility where the users' attributes are constant to someextent (for example, an event venue targeting a predetermined agegroup), even if the request estimation data that is referred to in sucha manner is not limited, the guidance request of the user can beestimated with sufficient accuracy.

The map storage unit 3 e stores the map information being information onthe guidance area. As the map information, in addition to the mapinformation on the guidance area, there may be mentioned information onfacilities such as a toilet and a store that are installed in theguidance area, information on an event being held in the guidance areaand construction taking place continuously, and the like. Furthermore,the information on the facility provided in the guidance area alsoincludes average time of use of the facility.

The map information stored in the map storage unit 3 e (specifically, ofthe map information, information on the vicinity of a current locationof the user) is, as described above, referred to when the guidancerequest estimation unit 3 c estimates the guidance request of the user.

This is to estimate the guidance request of the user with high accuracyby referring to the map information, because even in the case where theuser's action (that is, the user dynamic data) is the same, the guidancerequest arising from the action may be different depending on theposition in the guidance area.

However, the guide robot control device of the present invention is notlimited to such a configuration. For example, the map information maynot be referred to at the time of estimation of the guidance request ofthe user. In such a case, the map storage unit may be omitted.

The guidance action determination unit 3 f determines the guidanceaction that the robot 2 performs at the start of the guidance and duringthe guidance, based on the environmental dynamic data recognized by thedata recognition unit 3 a, the relative position recognized by therelative position recognition unit 3 b, and the guidance requestestimated by the guidance request estimation unit 3 c.

Here, “guidance action” represents, during the guidance, a content of aservice to be provided from the robot 2 to the user and a condition fordetermining a motion of the robot 2. For example, in addition to a routeat the time of the guidance, which will be described later in thepresent embodiment, a guidance speed being a movement speed of the robot2 at the time of the guidance, a relative position of the robot 2 withrespect to the user, and a content of information to be notified to theuser, there may be mentioned a content such as a type of the robot thatperforms the guidance (for example, whether it is a robot that leads theuser, whether it is a robot in which the user can ride).

Specifically, the guidance action determination unit 3 f, based on theguidance request estimated by the guidance request estimation unit 3 c,determines, at the start of the guidance, a route from the guidancestart point to the destination, and changes, during the guidance, aroute from the current location to the destination, by means of a routedetermination unit 3 f 1.

Furthermore, the route determination unit 3 f 1 also estimates a changein the required time before and after the change and arrival time to thedestination. Then, the change in the required time and the arrival timeare presented to the user via the output unit of the robot 2.

This is to enable the user to facilitate determination on necessity ofthe change of the route. Consequently, this is to make a reaction of theuser noticeable, so that the reaction of the user (that is, the user'sintention on the necessity of the change of the route) can be recognizedby the reaction recognition unit 3 i, which will be described later,with high accuracy.

The route determination unit of the present invention is not limited tosuch a configuration and may be any unit that can change the route basedon the estimated guidance request. For example, one or both of thechange in the required time before and after the change and the arrivaltime to the destination may not be estimated.

Furthermore, the guidance action determination unit 3 f, by means of aguidance speed determination unit 3 f 2, determines a guidance speed atthe start of the guidance and during the guidance, based on the guidancerequest estimated by the guidance request estimation unit 3 c.

Furthermore, the guidance action determination unit 3 f, by means of atarget position determination unit 3 f 3, determines and changes, at thestart of the guidance and during the guidance, a target position basedon a relative position when the user starts to move after the robot 2starts the guidance and the environmental dynamic data at the currentlocation of the user.

The reason why not only a relative position set in advance at the startof the guidance but also the environmental dynamic data is thus referredto is because depending on the environmental dynamic data (that is, adynamic environment of the guidance area such as a degree ofcongestion), a position different from a position that the useroriginally considers to be preferable may be used as a position at whichthe user is less likely to feel stress.

However, the target position determination unit of the present inventionis not limited to such a configuration. For example, the target positionmay be determined or changed without reference to the environmentaldynamic data.

Furthermore, the guidance action determination unit 3 f, whendetermining or changing the guidance action that the robot 2 performsduring the guidance, also refers to priority stored in the prioritystorage unit 3 g, which will be described later.

This is because, for example, it may be difficult to determine onlybased on the request of the user which facility should be selected froma plurality of facilities with similar functions, while among facilitiesin the guidance area with similar functions, there may be facilitiesthat the user is desired to preferentially use and facilities that theuser is desired not to use if possible.

For example, in the case of toilets at a place that is likely to becongested and a place that is less likely to be congested, from thestandpoint of the management side of the guidance area, the preferentialuse of the place that is less likely to be congested is demanded.

Accordingly, as described above, in the case where priority offacilities is determined in advance and the priority is referred to whenthe guidance action is determined or changed, a demand from not only theuser but also the facility side of the guidance area can be satisfied.

As specific processing in the case where the priority is referred to,for example, there may be mentioned processing in which a route to beguided is set to a route through a facility with high priority, in whichthe guidance speed of the robot 2 is made slower in front of a facilitywith high priority, and in which the target position is set to aposition that is less likely to prevent the user from recognizing afacility with high priority.

However, the guidance action determination unit of the present inventionis not limited to such a configuration. For example, the priority maynot be referred to in determination and change of every guidance action.In such a case, the priority storage unit may be omitted. Furthermore,the priority may be referred to only in determination and change of someof the guidance actions.

Furthermore, the guidance action determination unit 3 f, whendetermining or changing the guidance action that the robot 2 performsduring the guidance, also refers to, of evaluation data stored in theevaluation data storage unit 3 l, which will be described later,evaluation data in the previous or earlier guidance.

This is because the guidance action is determined by referring to theevaluation data (for example, a guidance action that has caused anegative emotion in the evaluation data is not performed), so that theguidance action to be actually performed is made more suitable.

However, the guidance action determination unit of the present inventionis not limited to such a configuration. For example, the evaluation datamay not be referred to in determination and change of every guidanceaction. Furthermore, the evaluation data may be referred to only indetermination and change of some of the guidance actions.

Furthermore, the guidance action determination unit 3 f, when changingthe guidance action that the robot 2 performs during the guidance,performs final determination on whether the guidance action is to bechanged, based on a reaction of the user recognized by the reactionrecognition unit 3 i, which will be described later. As a result, theguidance action can be prevented from being suddenly changed.

However, the guidance action determination unit of the present inventionis not limited to such a configuration. For example, the reaction of theuser may not be referred to in determination and change of everyguidance action. Furthermore, the reaction of the user may be referredto only in determination and change of some of the guidance actions.

The priority storage unit 3 g stores the priority on facilities in theguidance area. This priority may be optionally set by a system designerof the guidance system S or the like.

For example, in the case of toilets at a place that is likely to becongested and a place that is less likely to be congested, from thestandpoint of the management side of the guidance area, the preferentialuse of the place that is less likely to be congested is demanded. In thecase where such a demand is grasped, the priority of the toilet that isless likely to be congested may be set to be higher than the priority ofthe toilet that is likely to be congested.

Furthermore, for example, since the guidance system S of the presentembodiment is introduced to the airport, the priority of a facilityimportant to the operation side of the airport (for example, a facilitywith high rent) may be made higher.

The notification instruction unit 3 h issues to the robot 2 aninstruction for notification of inquiry information to the user forinquiring about necessity of change of the guidance action, based on thedetermined guidance action (for example, the guidance route, theguidance speed, and the target position).

Specifically, the notification instruction unit 3 h notifies of thecontent of the change of the guidance action, the change in the requiredtime before and after the change, and the arrival time to thedestination that are determined by the guidance action determinationunit 3 f, and instructs the robot 2 to perform the notification forinquiring about the necessity of the change. The robot 2 that hasreceived this instruction performs the notification to the user via theoutput unit of the robot 2.

The reaction recognition unit 3 i recognizes how the user has reacted tothe notification based on the instruction issued by the notificationinstruction unit 3 h to the robot 2.

Specifically, the reaction recognition unit 3 i recognizes the reactionof the user, based on the user dynamic data recognized by the datarecognition unit 3 a.

The robot control unit 3 j controls the motion of the robot 2, based onthe guidance action determined by the guidance action determination unit3 f.

The emotion estimation unit 3 k, based on the user dynamic datarecognized by the data recognition unit 3 a, estimates a current emotionbeing a current emotion of the user, at a plurality of time pointsduring the guidance. Furthermore, based on the user dynamic datarecognized by the data recognition unit 3 a, a reference emotion of theuser serving as a reference for grasping a change in the emotion isestimated at the start of the guidance. Then, the emotion estimationunit 3 k generates evaluation data being data in which a motion of therobot 2 and the current emotion of the user at the time of the motionare associated with each other, based on the current emotion and thereference emotion.

The emotion estimation of the emotion estimation unit 3 k is performedbased on, for example, a known or new emotion model. In the presentembodiment, the emotion estimation is performed based on a knownPlutchik emotion model M as illustrated in FIG. 6.

In this emotion model M, emotions are classified into four sets andeight types, and each of eight areas extending radially from the centercorresponds to one of the emotions.

Specifically, a first area A1 corresponds to “joy”; a second area A2,“trust”; a third area A3, “fear”; a fourth area A4, “surprise”; a fiftharea A5, “sadness”; a sixth area A6, “disgust”; a seventh area A7,“anger”; an eighth area A8, “anticipation,” and the degree of theemotion is expressed to be stronger as it becomes closer to the center(to the inner area relative to the outer area).

As described above, this emotion estimation method is an example, andanother method may be used. Specifically, an emotion model other thanthe Plutchik emotion model may be referred to. Furthermore, a data tablemay be used in which a motion and emotion of the user are associatedwith each other, or algorithm may be used in which a motion of the useris used as an input item and an emotion of the user is used as an outputitem.

The current emotion estimation of the emotion estimation unit 3 k isperformed at a plurality of time points during the guidance.Specifically, when it is determined based on the user dynamic data thata predetermined behavior is performed by the user, or when apredetermined motion is performed by the robot 2, the current emotion isestimated. This is because in the case where an emotion of the user isconstantly estimated, it may be difficult to grasp which motion of therobot the emotion corresponds to.

The evaluation data storage unit 3 l stores in time series theevaluation data generated by the emotion estimation unit 3 k. As aresult, regarding the emotional changes, data as in a graph illustratedin FIG. 20, which will be described later, is obtained.

The current emotion included in the evaluation data is associated withnot only the current emotion itself but also whether the estimatedemotion is a positive emotion or a negative emotion and the change inthe emotion (as a result of the motion, whether it becomes favorable orworse, or the like).

In the present embodiment, the emotion estimation is performed based onthe Plutchik emotion model M illustrated in FIG. 6, the eight areas ofthe emotion model M are classified as either positive or negative, and ascore is set according to the area and the degree. Thus, the evaluationdata storage unit 3 l stores, in addition to the estimated emotionitself, the classification (that is, whether it is a positive emotion ora negative emotion) and a variation in the score (that is, the change inthe emotion).

Furthermore, the evaluation data is also associated with theenvironmental dynamic data on the current location of the user at thetime of the motion of the robot 2. This is because the environmentaldynamic data also greatly affects the emotion of the user.

Furthermore, the evaluation data is also associated with the user staticdata on the user having been guided. This is because at the time of thenext or later reference to the evaluation data, the evaluation dataassociated with the user static data (attribute) similar to that of theuser to be guided can be referred to.

The evaluation data may not be necessarily associated with theenvironmental dynamic data and the user static data. Specifically, atleast one of the environmental dynamic data and the user static data maynot be associated with the evaluation data.

The configuration described with reference to FIG. 5 is an example ofthe guidance system of the present invention. That is, the functions tobe implemented by the hardware configurations or programs installed inthe server 3 in the present embodiment are not necessarily implementedby a single server.

For example, they may be implemented by using hardware configurations orprograms installed in a plurality of servers or may be implemented bythe hardware configurations or programs installed in the server incooperation with hardware configurations or programs installed in atleast one of the reception terminal, the robot, and the monitoringsystem. Furthermore, for example, without using the server, they may beimplemented in cooperation with hardware configurations or programsinstalled in the plurality of robots or the monitoring system.

Next, processing that the server 3 of the guidance system S performswill be described with reference to FIGS. 5 and 7 to 20.

First, processing that the server 3 of the guidance system S performswhen determining the guidance route at the start of the guidance andwhen changing the guidance route during the guidance will be describedwith reference to FIGS. 5 and 7 to 10.

FIG. 7 is a flowchart illustrating the processing that the server 3 ofthe guidance system S performs when determining the guidance route atthe start of the guidance. Furthermore, FIG. 9 is a flowchartillustrating, of the processing that the server 3 of the guidance systemS performs when changing the guidance route during the guidance,processing until a content of the change of the guidance route isdetermined. Furthermore, FIG. 10 is a flowchart illustrating, of theprocessing that the server 3 of the guidance system S performs whenchanging the guidance route during the guidance, processing until thechange of the guidance mute is executed.

First, the processing that the guidance system S performs whendetermining a guidance route at the start of the guidance will bedescribed.

In this processing, the user static data recognition unit 3 a 2 of thedata recognition unit 3 a of the server 3 first recognizes the userstatic data before the start of the guidance (STEP 101 in FIG. 7).

Specifically, the reception terminal 1 installed at a guidance startlocation P0 first recognizes information input by the user at the timeof reception, information on the reception terminal 1 that has acceptedthe reception, and the result of the questionnaire to the user performedvia the output unit of the reception terminal 1, and transmits thesepieces of information to the server 3. Thereafter, the user static datarecognition unit 3 a 2 acquires, of the information transmitted to theserver 3, information that may affect the determination of the guidanceroute, and recognizes the information as the user static data.

As the information that may affect the determination of the guidanceroute in this processing, for example, in addition to essential itemssuch as a destination P1 and a desired arrival time (for example, flighttime), there may be mentioned information on attributes of the user, anda course that the user has passed through to reach the guidance area (astore or the like that the user has dropped in before arriving at theairport serving as the guidance area).

Furthermore, as the attributes of the user in this processing, there maybe mentioned attributes that may affect the determination of theguidance route. For example, there may be mentioned age, gender, a pastairport use history (a guidance route guided in the past), and presenceor absence of baggage that needs to be checked in.

Next, the environmental static data recognition unit 3 a 4 of the datarecognition unit 3 a of the server 3 recognizes the environmental staticdata on the entire guidance area (STEP 102 in FIG. 7).

Specifically, the environmental static data recognition unit 3 a 4acquires, from the map storage unit 3 c of the server 3, informationthat may affect the determination of the guidance route, and recognizesthe information as the environmental static data.

As the information that may affect the determination of the guidanceroute in this processing, in addition to the map information on theguidance area (for example, a position of the reception terminal 1 thathas accepted the reception (that is, the guidance start location P0)),there may be mentioned information on facilities such as a toilet and astore that are installed in the guidance area, information on an eventbeing held in the guidance area and construction taking placecontinuously, and the like.

Next, the route determination unit 3 f 1 of the guidance actiondetermination unit 3 f of the server 3 determines a reference firstroute R1, based on the recognized user static data and environmentalstatic data (STEP 103 in FIG. 7).

In the present embodiment, of routes that are from the guidance start,location P0 to the destination P1 and through which the user can arriveby the desired arrival time, a route estimated to allow the user to movein the shortest time is the first route R1.

Next, the user dynamic data recognition unit 3 a 1 of the datarecognition unit 3 a of the server 3 recognizes the user dynamic databefore the start of the guidance (STEP 104 in FIG. 7).

Specifically, the reception terminal 1 first transmits to the server 3data on an image of the user captured by the first camera 1 e of thereception terminal 1 at the time of the user offering the reception viathe reception terminal 1, and data on a voice of the user acquired bythe first microphone 1 c. Thereafter, the user dynamic data recognitionunit 3 a 1 recognizes, as the user dynamic data, a behavior of the userat the start of the guidance, biological information (for example, aphysical condition, a degree of fatigue), and the like, based on thetransmitted information received by the server 3.

Next, the guidance request estimation unit 3 c of the server 3recognizes the request estimation data based on the user static data(STEP 105 in FIG. 7).

Specifically, the guidance request estimation unit 3 c first recognizes,of the user static data recognized by the user static data recognitionunit 3 a 2, data indicating the attribute of the user who desires theguidance. Thereafter, the guidance request estimation unit 3 c acquiresfrom the request estimation data storage unit 3 d the request estimationdata associated with an attribute same as or relating to the attribute.

Next, the guidance request estimation unit 3 c estimates the guidancerequest of the user, based on the recognized user dynamic data, userstatic data, and request estimation data (STEP 106 in FIG. 7).

Specifically, the guidance request estimation unit 3 c first estimatesthe guidance request of the user (for example, whether the user wants togo to a toilet, whether the user wants to take a break), based on thebehavior of the user and the biological information (for example, aphysical condition, a degree of fatigue) in the user dynamic data, andthe course that the user has passed through to reach the guidance area(for example, whether the user has dropped in a restaurant) in the userstatic data.

Thereafter, the guidance request estimation unit 3 c refers to therequest estimation data in which the user dynamic data same as orsimilar to the recognized user dynamic data is included, and determineswhether the guidance request corresponding to the request estimationdata and the guidance request estimated this time coincide with eachother.

Then, when it is determined that the guidance requests coincide witheach other, the guidance request estimation unit 3 c establishes theestimated guidance request as the guidance request of the user. On theother hand, when it is determined that the guidance requests do notcoincide with each other, the guidance request estimation unit 3 crefers to the other user dynamic data and request estimation data andestimates the guidance request of the user again.

Next, the route determination unit 3 f 1 recognizes the priority fromthe priority storage unit 3 g based on the estimated guidance request(STEP 107 in FIG. 7).

Specifically, the route determination unit 3 f 1 acquires from thepriority storage unit 3 g the priority of a facility estimated to be afacility that the user desires to use.

Next, the route determination unit 3 f 1 recognizes the map informationfrom the map storage unit 3 e based on the estimated guidance request(STEP 108 in FIG. 7).

Specifically, the route determination unit 3 f 1 acquires from the mapstorage unit 3 e average time of use of the facility estimated to be thefacility that the user desires to use.

Last, the route determination unit 3 f 1 modifies the reference firstroute R1 based on the estimated guidance request and the recognizedpriority and map information, determines a second route R2 being theguidance route at the start of the guidance, and ends this processing(STEP 109 in FIG. 7).

Specifically, for example, when it is estimated that the user isrequesting to use a toilet, the route determination unit 3 f 1, inconsideration of average time of use of a toilet, first searches for, ofroutes through which the user reaches the destination P1 from theguidance start location P0 by the desired arrival time, a plurality ofroutes that allow the user to pass through any of toilets.

Thereafter, the route determination unit 3 f 1 determines, of theplurality of searched routes, a route passing through a toilet withhighest priority (for example, a toilet that is least likely to becongested) as the second route R2 being the guidance route at the startof the guidance.

Next, the processing that the server 3 of the guidance system S performswhen changing the guidance route during the guidance will be described.

In this processing, the user dynamic data recognition unit 3 a 1 of thedata recognition unit 3 a of the server 3 first recognizes current userdynamic data (STEP 201 in FIG. 9).

Specifically, the robot 2 first transmits to the server 3 data on animage of the user captured by the second camera 22 d of the robot 2, anddata on a voice of the user acquired by the second microphone 22 b.Thereafter, the user dynamic data recognition unit 3 a 1 recognizes, asthe current user dynamic data, a behavior of the user during theguidance (for example, an expression, movement of the line of sight),biological information (for example, a physical condition, a degree offatigue), and the like, based on the information transmitted to theserver 3.

Next, the user dynamic data recognition unit 3 a 1 determines whetherthe recognized user dynamic data is predetermined user dynamic data setin advance (STEP 202 in FIG. 9).

Some of the actions of the user with respect to the guidance request(that is, the user dynamic data) can be generalized. For example, in thecase where the user is concerned about arrival time, the user frequentlychecks a watch, and in the case where the user wants to use a toilet,the user checks a guidance table indicating a position of a toilet.

Thus, in the guidance system S, the user dynamic data that should beused as a trigger of the change of the guidance content is set inadvance, and only when the recognized user dynamic data corresponds tothe predetermined user dynamic data set in advance, the subsequentprocessing for changing the guidance content is executed. As a result,in the guidance system 5, excessive execution of the processing issuppressed, so that excessive change of the guidance content andexcessive notification associated therewith are suppressed.

As the predetermined user dynamic data, for example, there may bementioned information indicating that the line of sight of the user hasmoved to look for something or is focusing on some point, informationindicating that the movement direction or movement speed of the user ischanged, and information indicating that the user has uttered a voice toconvey a request (for example, the user wants to drop in somewhere).

When it is determined that it, is not the predetermined user dynamicdata (in the case of NO in STEP 202 in FIG. 9), the processing returnsto STEP 201, and the user dynamic data recognition unit 3 a 1 recognizesthe user dynamic data again.

On the other hand, when it is determined that it is the predetermineduser dynamic data (in the case of YES in STEP 202 in FIG. 9), theenvironmental dynamic data recognition unit 3 a 3 of the datarecognition unit 3 a of the server 3 recognizes the environmentaldynamic data on the current location of the robot 2 (consequently, acurrent location P2 of the user) (STEP 203 in FIG. 9).

Specifically, the robot 2 first transmits to the server 3 data on animage of the vicinity of the user captured by the second camera 22 d ofthe robot 2, and data on a sound in the vicinity of the user acquired bythe second microphone 22 b. Thereafter, the environmental dynamic datarecognition unit 3 a 3 acquires, of the information transmitted to theserver 3, information that may affect the change of the guidance route,and recognizes the information as the environmental dynamic data.

As the information that may affect the change of the guidance route inthis processing, for example, there may be mentioned a degree ofcongestion in the vicinity of the user during the guidance, unscheduledconstruction, and an event such as a sudden accident.

Next, the environmental static data recognition unit 3 a 4 of the datarecognition unit 3 a of the server 3 recognizes the environmental staticdata on the current location P2 of the user (STEP 204 in FIG. 9).

Specifically, the environmental static data recognition unit 3 a 4acquires, from the map storage unit 3 e of the server 3, informationthat may affect the change of the guidance route, and recognizes theinformation as the environmental static data.

As the information that may affect the change of the guidance route inthis processing, there may be mentioned information on facilities suchas a toilet and a store that are installed in the vicinity of thecurrent location P2 of the user, information on an event being held inthe vicinity of the current location P2 (in the present embodiment, anevent being held in an event venue P3) and construction taking placecontinuously, and the like.

Next, the guidance request estimation unit 3 c of the server 3recognizes the request estimation data based on the recognized userstatic data (STEP 205 in FIG. 9).

Specifically, similarly to the processing in STEP 105 in FIG. 7, theguidance request estimation unit 3 c, based on the data indicating theattribute of the user recognized from the user static data recognizedbefore the start of the guidance (the user static data recognized inSTEP 101 in FIG. 7), acquires from the request estimation data storageunit 3 d the request estimation data associated with an attribute sameas or relating to the attribute.

Next, the guidance request estimation unit 3 c estimates the guidancerequest of the user at the current time point, based on the recognizeduser dynamic data, environmental dynamic data, environmental staticdata, and request estimation data (STEP 206 in FIG. 9).

Specifically, the guidance request estimation unit 3 c first estimatesthe guidance request of the user (for example, the user wants to movesmoothly because it is congested, the user is interested in a content ofan event), based on the user dynamic data (an expression, movement ofthe line of sight, and the like), the environmental dynamic data (adegree of congestion of the current location P2, and the like), and theenvironmental static data (an event being held in the event venue P3,and the like).

Thereafter, similarly to the processing in STEP 106 in FIG. 7, theguidance request estimation unit 3 c refers to the request estimationdata, and establishes the estimated guidance request as the guidancerequest of the user or estimates the guidance request of the user again.

Next, the route determination unit 3 f 1 recognizes the priority fromthe priority storage unit 3 g based on the estimated guidance request(STEP 207 in FIG. 9).

Specifically, the route determination unit 3 f 1 acquires from thepriority storage unit 3 g the priority of a facility estimated to be afacility that the user desires to use.

Next, the route determination unit 3 f 1 recognizes the map informationrelating to the guidance request, based on the estimated guidancerequest (STEP 208 in FIG. 9).

Specifically, for example, the route determination unit 3 f 1 acquiresfrom the map storage unit 3 e a distance and required time from thecurrent location to a store P4 where a product relating to the eventbeing held in the event venue P3 is handled, average time of use of thestore P4, and the like.

Next, the route determination unit 3 f 1 determines a content of thechange of the guidance route, based on the estimated guidance requestand the recognized priority and map information (STEP 209 in FIG. 9).

Specifically, for example, when it is estimated that the user isinterested in the event being held in the event venue P3 (consequently,the user is requesting to purchase the product relating to the event),the route determination unit 3 f 1, in consideration of average time ofuse of the store handling the product, first searches for, of routesfrom the current location P2 to the destination P1, a plurality ofroutes passing through any of the stores.

Thereafter, the route determination unit 3 f 1 replaces, of thereference first route R1, a portion from the current location P2 to thedestination P1 with, of the plurality of searched routes, a routepassing through a store with highest priority (for example, the neareststore P4), and determines the route as a third route R3 (a content ofthe change) being the changed guidance route.

Next, the route determination unit 3 f 1 recognizes arrival time in thecase where guidance route is changed from the second route R2 to thethird route R3 (STEP 210 in FIG. 10).

Specifically, the route determination unit 3 f 1 first calculates anaverage movement speed from the guidance start location P0 to thecurrent location P2. Thereafter, the route determination unit 3 f 1calculates the arrival time based on the average movement speed, thedistance from the current location P2 to the destination P1, the averagetime of use of the store P4, and the current time.

Next, the route determination unit 3 f 1 determines whether the arrivaltime in the case where the guidance route is changed is before thedesired arrival time of the user (STEP 211 in FIG. 10).

When it is determined that it is not before the desired arrival time (inthe case of NO in STEP 211 in FIG. 10), the server 3 ends thisprocessing without performing the subsequent processing.

On the other hand, when it is determined that it is before the desiredarrival time (in the case of YES in STEP 211 in FIG. 10), the routedetermination unit 3 f 1 recognizes the evaluation data from theevaluation data storage unit 3 l based on the recognized user staticdata (STEP 212 in FIG. 10).

Specifically, the route determination unit 3 f 1 first recognizes, ofthe user static data recognized by the user static data recognition unit3 a 2, data indicating the attribute of the user. Thereafter, the routedetermination unit 3 f 1 acquires from the evaluation data storage unit3 l the evaluation data associated with an attribute same as or relatingto the attribute.

Next, the route determination unit 3 f 1, based on the evaluation data,recognizes a change in the emotion of the user that is predicted in thecase where the guidance route is changed (STEP 213 in FIG. 10).

Specifically, the route determination unit 3 f 1 first searches for, ofthe recognized evaluation data, the evaluation data associated with amotion same as or relating to the motion of the robot 2 for thisguidance request (for example, the change of the guidance route itself).Thereafter, the route determination unit 3 f 1 recognizes the change inthe emotion included in the recognized evaluation data.

Next, the route determination unit 3 f 1 determines whether thepredicted emotional change is positive (STEP 214 in FIG. 10).

When it is determined that it is not positive (in the case of NO in STEP214 in FIG. 10), the server 3 ends this processing without performingthe subsequent processing.

On the other hand, when it is determined that it is positive (in thecase of YES in STEP 214 in FIG. 10), the notification instruction unit 3h of the server 3 instructs the robot 2 to notify of the content of thechange (STEP 215 in FIG. 10).

Specifically, for example, in the case of processing relating to thechange of the guidance route, the notification instruction unit 3 hfirst instructs the robot 2 to notify of information on the change ofthe guidance route such as the fact that the product relating to theevent being held in the event venue P3 is handled at the store P4, theguidance route for passing through the store P4 (that is, the thirdroute R3), the arrival time in the case where the guidance route ischanged, and a change in the required time before and after the change,and inquiry information for inquiring about necessity of the change ofthe guidance route.

Thereafter, the robot 2 that has received this instruction performs thenotification via the second touch panel 22 a and the second speaker 22 cthat serve as the output unit.

Next, the user dynamic data recognition unit 3 a 1 recognizes the userdynamic data after the notification of the inquiry information (STEP 216in FIG. 10).

Specifically, the robot 2 first transmits to the server 3 data on animage of the user captured by the second camera 22 d of the robot 2 anddata on a voice of the user acquired by the second microphone 22 b afterthe notification of the inquiry information. Thereafter, the userdynamic data recognition unit 3 a 1 recognizes the behavior of the userand the like as the user dynamic data, based on the informationtransmitted to the server 3.

Next, the reaction recognition unit 3 i of the server 3 recognizes areaction of the user, based on the user dynamic data recognized afterthe notification of the inquiry information (STEP 217 in FIG. 10).

Specifically, for example, the system designer of the guidance system Sor the like sets in advance a behavior in which the user may beestimated to have indicated a permission, and a behavior in which theuser may be estimated to have indicated a refusal, and the reactionrecognition unit 3 i recognizes the reaction of the user (specifically,whether the change of the guidance route is permitted), depending onwhich of the behaviors the user dynamic data recognized after thenotification corresponds to.

Next, the route determination unit 3 f 1 determines whether the reactionrecognized by the reaction recognition unit 3 i is a reaction thatpermits the change of the guidance route (STEP 218 in FIG. 10).

When it is determined that it is not a reaction that permits the changeof the guidance route (in the case of NO in STEP 218 in FIG. 10), theserver 3 ends this processing without performing the subsequentprocessing.

On the other hand, when it is determined that it is a reaction thatpermits the change of the guidance route (in the case of YES in STEP 218in FIG. 10), the route determination unit 3 f 1 establishes the changeof the guidance route, and the robot control unit 3 j of the server 3issues to the robot 2 an instruction for the guidance action accordingto the changed guidance route (STEP 219 in FIG. 10).

Specifically, the robot control unit 3 j transmits to the robot 2 aninstruction for guiding the user along the third route R3 being thechanged guidance route.

Last, the guidance request estimation unit 3 c associates, with theestimated guidance request, the user dynamic data used a the time of theestimation of this guidance request (that is, the user dynamic datarecognized in STEP 201 in FIG. 9) and the user static data, stores themin the request estimation data storage unit 3 d, and ends thisprocessing (STEP 220 in FIG. 10).

In the server 3 configured as described above, during the guidance(specifically, during the period from the start of the guidance to theend of the guidance), the guidance route is changed based on theestimated guidance request of the user. That is, the guidance route ischanged based on not only a request clearly expressed by the user butalso a request that the user potentially has.

As a result, the guidance route becomes suitable for the guidancerequest of the user. For example, a facility that the user needs to use(for example, a break room, a toilet), and a position of a store wheregoods and services of interest to the user are provided are taken intoconsideration.

Thus, according to the guidance system S comprising this server 3 andthe guide robot control method using the same, the guidance routecorresponds to the guidance request of the user, and the change of theguidance route is performed while respecting the user's intention, sothat the user can receive the guidance with less stress.

In the processing for the change of the guidance route in the presentembodiment, the user dynamic data is detected sequentially, and theguidance request is accordingly estimated again to perform the change ofthe guidance route. This is to sequentially grasp the guidance requestof the user that changes from moment to moment so as to suitably changethe guidance route.

However, the present invention is not limited to such a configuration.For example, the recognition of the user dynamic data, the estimation ofthe guidance request, and consequently the change of the guidance routemay be performed only at a predetermined timing (for example, a timingof passing through a predetermined location, a timing at which apredetermined time elapses).

Furthermore, for example, the recognition of the user dynamic data, theestimation of the guidance request, and consequently the change of theguidance route may be performed only when, instead of the user dynamicdata, the environmental dynamic data is recognized sequentially andpredetermined environmental dynamic data is recognized (for example,when the degree of congestion becomes equal to or higher than apredetermined degree).

Furthermore, in the present embodiment, when it is determined that thearrival time in the case where the guidance route is changed is notbefore the desired arrival time (in the case of NO in STEP 211 in FIG.10), when it is determined that the predicted emotional change is notpositive (in the case of NO in STEP 214 in FIG. 10), and when it isdetermined that the reaction after the notification is not a reactionindicating a permission (in the case of NO in STEP 218 in FIG. 10), theserver 3 ends the processing without performing the subsequentprocessing. This is to give priority to guiding the user to thedestination at the desired arrival time, and to give priority to adirect desire of the user.

However, the present invention is not limited to such a configuration.For example, when the recognized user dynamic data includes a directinstruction (for example, when the user instructs the robot to lead to apredetermined store), when the recognized environmental dynamic data hasa high degree of urgency (when an accident requiring evacuation occursnear the current location), or the like, the change of the guidanceroute may be executed without performing the determination on thearrival time and the determination on the emotional change.

Furthermore, in the present embodiment, the determination of theguidance route at the start of the guidance and the change of thecontent of the guidance route are performed based on a physiologicaldesire of the user or a display that has attracted the interest of theuser during the guidance.

However, the present invention is not limited to such a configuration.For example, at the time of the determination and change of the guidanceroute, of the user static data, a past facility use history of the usermay be referred to, and a route passing through the facility used in thepast may be added as a candidate. Furthermore, of the user static data,an attribute of the user (for example, clothes, a brand of a carrieditem) may be referred to, and a route passing through a storecorresponding to the attribute (for example, a store relating to therecognized brand) or the like may be added as a candidate.

Furthermore, for example, of the environmental static data, a time zone(specifically, whether it is a time zone to eat) may be recognized, andaccording to the time zone, a route passing through an eatingestablishment may be added as a candidate. Furthermore, of theenvironmental static data, remaining time until the desired arrival timemay be recognized, and according to the remaining time, whether to givepriority to a passage that is easily passable (for example, wide andlarge) or whether to give priority to a passage with a shorter requiredtime may be referred to at the time of the determination and change ofthe guidance route.

Furthermore, for example, when it is estimated based on the user dynamicdata and the environmental dynamic data during the guidance that theuser has an unpleasant feeling about the surrounding situation (forexample, a degree of congestion), the guidance route may be changed to aroute with a low degree of congestion such that the user can movesmoothly.

Furthermore, for example, a general tendency such as a route with whichthe user is generally highly satisfied or a route avoiding a place wherethe guidance speed highly likely needs to be adjusted due to fatigue maybe recognized based on, in the previous or earlier guidance, the userstatic data, the evaluation data, and the like, and the determinationand change of the guidance mute may be performed by referring to thetendency.

Next, processing that the guidance system S performs when determiningthe guidance speed at the start of the guidance and processing that theguidance system S performs when changing the guidance speed during theguidance will be described with reference to FIGS. 5, 8, and 11 to 13.

FIG. 11 is a flowchart illustrating the processing that the server 3 ofthe guidance system S performs when determining the guidance speed atthe start of the guidance. Furthermore, FIG. 12 is a flowchartillustrating, of the processing that the server 3 of the guidance systemS performs when changing the guidance speed during the guidance,processing until a content of the change of the guidance speed isdetermined. Furthermore, FIG. 13 is a flowchart illustrating, of theprocessing that the server 3 of the guidance system S performs whenchanging the guidance speed during the guidance, processing until thechange of the guidance speed is executed.

First, the processing that the guidance system S performs whendetermining the guidance speed at the start of the guidance will bedescribed.

In this processing, the user static data recognition unit 3 a 2 of thedata recognition unit 3 a of the server 3 first recognizes the userstatic data before the start of the guidance (STEP 301 in FIG. 11).

Specifically, similarly to the processing in STEP 101 in FIG. 7, thereception terminal 1 first recognizes information input by the user atthe time of reception, information on the reception terminal 1 that hasaccepted the reception, and the result of the questionnaire to the userperformed via the output unit of the reception terminal 1, and transmitsthese pieces of information to the server 3.

Thereafter, the user static data recognition unit 3 a 2 acquires, theinformation transmitted from the reception terminal 1, information thatmay affect the determination of the guidance speed, and recognizes theinformation as the user static data.

As the information that may affect the determination of the guidancespeed in this processing, for example, in addition to essential itemssuch as a position of the reception terminal 1 that has accepted thereception (that is, the guidance start location P0 in FIG. 8), thedestination P1 in FIG. 8, and a desired arrival time (for example,flight time), there may be mentioned information on attributes of theuser, and a course that the user has passed through to reach theguidance area (a store or the like that the user has dropped in beforearriving at the airport serving as the guidance area).

Furthermore, as the attributes of the user in this processing, there maybe mentioned attributes that may affect the determination of theguidance speed. For example, there may be mentioned age, gender,presence or absence of physical disability, use or non-use of awheelchair, presence or absence of companion, and pregnancy status.

Next, the environmental static data recognition unit 3 a 4 of the datarecognition unit 3 a of the server 3 recognizes the environmental staticdata on the entire guidance area (STEP 302 in FIG. 11).

Specifically, the environmental static data recognition unit 3 a 4acquires, from the map storage unit 3 e of the server 3, informationthat may affect the determination of the guidance speed, and recognizesthese pieces of information as the environmental static data.

As the information that may affect the determination of the guidancespeed in this processing, in addition to the map information on theguidance area, there may be mentioned information on an event being heldin the guidance area and construction taking place continuously(consequently, information on a place where congestion is predicted),and the like.

Next, the guidance speed determination unit 3 f 2 of the guidance actiondetermination unit 3 f of the server 3 determines a reference firstspeed based on the recognized user static data and environmental staticdata (STEP 303 in FIG. 11).

In the present embodiment, as illustrated in FIG. 8, of routes that arefrom the guidance start location P0 to the destination P1 and throughwhich the user can arrive by the desired arrival time, a route estimatedto allow the user to move in the shortest time is the first route R1.Then, the guidance speed estimated in the case of moving through thefirst route R1 is the reference first speed.

Next, the user dynamic data recognition unit 3 a 1 of the datarecognition unit 3 a of the server 3 recognizes the user dynamic databefore the start of the guidance (STEP 304 in FIG. 11).

Specifically, similarly to the processing in STEP 104 in FIG. 7, theuser dynamic data recognition unit 3 a 1 recognizes, as the user dynamicdata, a behavior of the user at the start of the guidance, biologicalinformation (for example, a physical condition, a degree of fatigue),and the like, based on the information transmitted from the receptionterminal 1.

Next, the guidance request estimation unit 3 c of the server 3recognizes the request estimation data based on the user static data(STEP 305 in FIG. 11).

Specifically, similarly to the processing in STEP 105 in FIG. 7 and STEP205 in FIG. 9, the guidance request estimation unit 3 c, based on thedata indicating the attribute of the user recognized from the userstatic data, acquires from the request estimation data storage unit 3 dthe request estimation data associated with an attribute same as orrelating to the attribute.

Next, the guidance request estimation unit 3 c estimates the guidancerequest of the user, based on the recognized user dynamic data, userstatic data, and request estimation data (STEP 306 in FIG. 11).

Specifically, the guidance request estimation unit 3 c first estimatesthe guidance request of the user (specifically, whether the guidancespeed should be faster or slower, or the like), based on the behavior ofthe user and the biological information (for example, a physicalcondition, a degree of fatigue) in the user dynamic data, and the coursethat the user has passed through to reach the guidance area (forexample, presence or absence of physical disability) in the user staticdata.

Thereafter, the guidance request estimation unit 3 c refers to therequest estimation data in which the user dynamic data same as orsimilar to the recognized user dynamic data is included, and determineswhether the guidance request corresponding to the request estimationdata and the guidance request estimated this time coincide with eachother.

Then, when it is determined that the guidance requests coincide witheach other, the guidance request estimation unit 3 c establishes theestimated guidance request as the guidance request of the user. On theother hand, when it is determined that the guidance requests do notcoincide with each other, the guidance request estimation unit 3 crefers to the other user dynamic data and user estimation data andestimates the guidance request of the user again.

Last, the guidance speed determination unit 3 f 2 modifies the referencefirst speed based on the estimated guidance request, determines a secondspeed being the guidance speed at the start of the guidance, and endsthis processing (STEP 307 in FIG. 11).

Specifically, the guidance speed determination unit 3 f 2 adjusts thefirst speed according to the desired guidance speed of the user anddetermines it as the second speed.

In the case where the period from the current time to the arrival timeis short, in the case where the desired guidance speed of the user isextremely late, or the like, the most important purpose of guiding theuser to the destination by the desired arrival time may not be achieveddepending on movement of the user.

In such a case, processing for examining means to increase the movementspeed of the user may be performed. Specifically, for example, withoutperforming the processing for modifying the first speed and determiningthe second speed, processing for determining whether to use a robot of aridable type in the guidance and processing for bringing a ridable robotmay be performed.

Next, the processing that the server 3 of the guidance system S performswhen changing the guidance speed during the guidance will be described.

In this processing, the user dynamic data recognition unit 3 a 1 of thedata recognition unit 3 a of the server 3 first recognizes current userdynamic data (STEP 401 in FIG. 12).

Specifically, similarly to the processing in STEP 201 in FIG. 9, theuser dynamic data recognition unit 3 a 1 recognizes, as the current userdynamic data, a behavior of the user during the guidance (for example,an expression, movement of the line of sight), biological information(for example, a physical condition, a degree of fatigue), and the like,based on the information transmitted from the robot 2.

Next, the environmental dynamic data recognition unit 3 a 3 of the datarecognition unit 3 a of the server 3 recognizes the environmentaldynamic data on the current location of the robot 2 (consequently, thecurrent location P2 of the user) (STEP 402 in FIG. 12).

Specifically, similarly to the processing in STEP 203 in FIG. 9, theenvironmental dynamic data recognition unit 3 a 3 acquires, of theinformation transmitted from the robot 2, information that may affectthe change of the guidance speed, and recognizes the information as theenvironmental dynamic data.

As the information that may affect the change of the guidance speed inthis processing, for example, there may be mentioned information on adegree of congestion in the vicinity of the user during the guidance, amagnitude of noise in the vicinity of the user, and a movement speed ofthe other user.

This is because, for example, in the case where the vicinity of the useris congested, it becomes difficult for the user to move, and thus theguidance speed needs to be reduced.

Furthermore, this is because, for example, in the case where themagnitude of surrounding noise is large, it is desired to pass throughsuch a noisy area as soon as possible, and thus the guidance speed needsto be increased.

Furthermore, this is because, for example, in the case where themovement speed of the other user significantly differs from the currentguidance speed, there is a risk of collision, and thus it is necessaryto bring the guidance speed closer to the movement speed to some extent.

Next, the user dynamic data recognition unit 3 a 1 determines whetherthe recognized user dynamic data is predetermined user dynamic data setin advance (STEP 403 in FIG. 12).

Specifically, similarly to the processing in STEP 202 in FIG. 9, thesystem designer or the like sets in advance the user dynamic data thatshould be used as a trigger of the change of the guidance content, andthe user dynamic data recognition unit 3 a 1 determines whether therecognized user dynamic data corresponds to the predetermined userdynamic data set in advance.

As the predetermined user dynamic data, for example, there may bementioned information indicating that the line of sight of the user hasmoved to look for something or is focusing on some point, informationindicating that the movement direction or movement speed of the user ischanged, and information indicating that the user has uttered a voicethat conveys a request (for example, want to move faster).

When it is determined that it is not the predetermined user dynamic data(in the case of NO in STEP 403 in FIG. 12), the environmental dynamicdata recognition unit 3 a 3 determines whether the recognizedenvironmental dynamic data is predetermined environmental dynamic dataset in advance (STEP 404 in FIG. 12).

Some of the environmental dynamic data can be generalized as to how itaffects the guidance request of the user. For example, in the case wherethe degree of congestion becomes high, it becomes difficult for the userto move, and thus the guidance request for reducing the guidance speedoccurs.

Thus, in the guidance system S, the environmental dynamic data thatshould be used as a trigger of the change of the guidance content is setin advance, and only when the recognized environmental dynamic datacorresponds to the predetermined environmental dynamic data set inadvance, the subsequent processing for changing the guidance content isexecuted. As a result, in the guidance system S, excessive execution ofthe processing is suppressed, so that excessive change of the guidancecontent and excessive notification associated therewith are suppressed.

As the environmental dynamic data that should be used as a trigger ofthe change of the guidance content, for example, there may be mentionedinformation indicating that the degree of congestion has risen,information indicating that the magnitude of noise in the vicinity ofthe user has increased, and information indicating that a differencebetween the movement speed of the user during the guidance and themovement speed of the other user has become equal to or more than apredetermined value.

When it is determined that it is not the predetermined environmentaldynamic data (in the case of NO in STEP 404 in FIG. 12), the server 3executes the processing of STEPs 401 to 404 again.

On the other hand, when it is determined that it is the predetermineduser dynamic data (in the case of YES in STEP 403 in FIG. 12), or whenit is determined that it is the predetermined environmental dynamic data(in the case of YES in STEP 404 in FIG. 12), the guidance requestestimation unit 3 c of the server 3 recognizes the request estimationdata based on the recognized user static data (STEP 405 in FIG. 12).

Specifically, similarly to the processing in STEP 105 in FIG. 7, STEP205 in FIG. 9, and STEP 305 in FIG. 11, the guidance request estimationunit 3 c, based on the data indicating the attribute of the userrecognized from the user static data recognized before the start of theguidance (the user static data recognized in STEP 301 in FIG. 11),acquires from the request estimation data storage unit 3 d the requestestimation data associated with an attribute same as or relating to theattribute.

Next, the guidance request estimation unit 3 c estimates the guidancerequest of the user at the current time point, based on the recognizeduser dynamic data, environmental dynamic data, and request estimationdata (STEP 406 in FIG. 12).

Specifically, the guidance request estimation unit 3 c, based on theuser dynamic data (an expression, movement of the line of sight, and thelike) and the environmental dynamic data (a degree of congestion of thecurrent location, and the like), first estimates the guidance request ofthe user (for example, it is difficult to follow the robot because thedegree of congestion is high, the user is interested in a content of anevent and thus wants to move while watching the atmosphere once).

Thereafter, similarly to the processing in STEP 106 in FIG. 7, STEP 206in FIG. 9, and. STEP 306 in FIG. 11, the guidance request estimationunit 3 c refers to the request estimation data, and establishes theestimated guidance request as the guidance request of the user orestimates the guidance request of the user again.

Next, the guidance speed determination unit 3 f 2 of the guidance actiondetermination unit 3 f of the server 3 recognizes the map informationrelating to the guidance request, based on the estimated guidancerequest (STEP 407 in FIG. 12).

Specifically, for example, the guidance speed determination unit 3 f 2acquires from the map storage unit 3 e a passage or the like that islocated near the current guidance route (third route R3) and less likelyto be congested.

Next, the guidance speed determination unit 3 f 2 determines the contentof the change of the guidance speed, based on the estimated guidancerequest, and the recognized priority and map information (STEP 408 inFIG. 12).

Specifically, for example, when the degree of congestion at the currentlocation is high, and it is estimated that the user feels difficulty infollowing the robot 2, the guidance speed determination unit 3 f 2 firstcalculates the guidance speed that makes it easier for the user tofollow. Thereafter, the guidance speed determination unit 3 f 2determines how and how much the second speed being the current guidancespeed should be changed (the content of the change of the guidancespeed).

Next, the guidance speed determination unit 3 f 2 recognizes arrivaltime in the case where the guidance speed is changed (STEP 409 in FIG.13).

Specifically, the guidance speed determination unit 3 f 2 firstcalculates how much period and distance the change of the guidance speedshould be continued to satisfy the estimated guidance request (forexample, whether it is possible to finish passing through an area with ahigh degree of congestion). Thereafter, the guidance speed determinationunit 3 f 2 calculates the arrival time based on the calculated periodand distance that should be continued, the current time, and thedistance from the current location to the destination.

Next, the guidance speed determination unit 3 f 2 determines whether thearrival time in the case where the guidance speed is changed is beforethe desired arrival time of the user (STEP 410 in FIG. 13).

When it is determined that it is not before the desired arrival time (inthe case of NO in STEP 410 in FIG. 13), the server 3 ends thisprocessing without performing the subsequent processing.

On the other hand, when it is determined that it is before the desiredarrival time (in the case of YES in STEP 410 in FIG. 13), the guidancespeed determination unit 3 f 2 recognizes the evaluation data from theevaluation data storage unit 3 l based on the recognized user staticdata (STEP 411 in FIG. 13).

Specifically, similarly to the processing in STEP 212 in FIG. 10, theguidance speed determination unit 3 f 2, based on the data indicatingthe attribute of the user recognized from the user static datarecognized before the start of the guidance (the user static datarecognized in STEP 301 in FIG. 11), acquires from the evaluation datastorage unit 3 l the evaluation data associated with an attribute sameas or relating to the attribute.

Next, the guidance speed determination unit 3 f 2, based on theevaluation data, recognizes a change in the emotion of the user that ispredicted in the case where the guidance speed is changed (STEP 412 inFIG. 13).

Specifically, similarly to the processing in STEP 213 in FIG. 10, theguidance speed determination unit 3 f 2, based on a motion of the robot2 scheduled to be performed for this guidance request (for example, thechange of the guidance speed itself), recognizes the evaluation dataassociated with the motion and recognizes the change in the emotionincluded in the evaluation data.

Next, the guidance speed determination unit 3 f 2 determines whether thepredicted emotional change is positive (STEP 413 in FIG. 13).

When it is determined that the emotional change is not positive (in thecase of NO in STEP 413 in FIG. 13), the server 3 ends this processingwithout performing the subsequent processing.

On the other hand, when it is determined that it is positive (in thecase of YES in STEP 413 in FIG. 13), the notification instruction unit 3h of the server 3 instructs the robot 2 to notify of the content. of thechange (STEP 414 in FIG. 13).

Specifically, for example, in the case of processing relating to thechange of the guidance speed, the notification instruction unit 3 hfirst instructs the robot 2 to notify of information on the change ofthe guidance speed such as the fact that the guidance speed is to bechanged, the period and distance for changing the guidance speed, thereason for changing the guidance speed (that is, the estimated guidancerequest), the arrival time in the case where the guidance speed ischanged, and a change in the required time before and after the change,and inquiry information for inquiring about necessity of the change ofthe guidance speed.

Thereafter, the robot 2 that has received this instruction performs thenotification via the second touch panel 22 a and the second speaker 22 cthat serve as the output unit.

Next, the user dynamic data recognition unit 3 a 1 recognizes the userdynamic data. after the notification of the inquiry information (STEP415 in FIG. 13).

Specifically, similarly to the processing in STEP 216 in FIG. 9, theuser dynamic data recognition unit 3 a 1 recognizes, as the user dynamicdata, a behavior of the user after the notification of the inquiryinformation, and the like, based on the information transmitted from therobot 2.

Next, the reaction recognition unit 3 i of the server 3 recognizes areaction of the user, based on the user dynamic data recognized afterthe notification of the inquiry information (STEP 416 in FIG. 13).

Specifically, similarly to the processing in STEP 217 in FIG. 9, forexample, the reaction recognition unit 3 i recognizes the reaction ofthe user (specifically, whether the change of the guidance speed ispermitted), depending on whether the user dynamic data recognized afterthe notification corresponds to the behavior set in advance.

Next, the guidance speed determination unit 3 f 2 determines whether thereaction recognized by the reaction recognition unit 3 i is a reactionthat permits the change of the guidance speed (STEP 417 in FIG. 13).

When it is determined that it is not a reaction that permits the changeof the guidance speed (in the case of NO in STEP 417 in FIG. 13), theserver 3 ends this processing without performing the subsequentprocessing.

On the other hand, when it is determined that it is a reaction thatpermits the change of the guidance speed (in the case of YES in STEP 417in FIG. 13), the guidance speed determination unit 3 f 2 establishes thechange of the guidance speed, and the robot control unit 3 j of theserver 3 issues to the robot 2 an instruction for the guidance actionaccording to the changed guidance speed (STEP 418 in FIG. 13).

Specifically, the robot control unit 3 j transmits to the robot 2 aninstruction for guiding the user at the changed guidance speed.

Last, the guidance request estimation unit 3 c associates, with theestimated guidance request, the user dynamic data used at the time ofthe estimation of this guidance request (that is, the user dynamic datarecognized in STEP 401 in FIG. 12), the environmental dynamic data (thatis, the environmental dynamic data recognized in STEP 402 in FIG. 12),and the user static data, stores them in the request estimation datastorage unit 3 d, and ends this processing (STEP 419 in FIG. 13).

In the server 3 configured as described above, during the guidance(specifically, during the period from the start of the guidance to theend of the guidance), the guidance speed is changed based on theestimated guidance request of the user. That is, the guidance speed ischanged based on not only a request clearly expressed by the user butalso a request that the user potentially has.

As a result, the guidance speed becomes suitable for the guidancerequest of the user. For example, a degree of fatigue of the user,discomfort due to congestion, a position of a facility of interest tothe user are taken into consideration.

Thus, according to the guidance system S comprising this server 3 andthe guide robot control method using the same, the guidance speedcorresponds to the guidance request of the user, and the change of theguidance speed is performed while respecting the user's intention, sothat the user can receive the guidance with less stress.

In the processing for the change of the guidance speed in the presentembodiment, the user dynamic data is detected sequentially, and theguidance request is accordingly estimated again to perform the change ofthe guidance speed. This is to sequentially grasp the guidance requestof the user that changes from moment to moment so as to suitably changethe guidance speed.

However, the present invention is not limited to such a configuration.For example, the recognition of the user dynamic data, the estimation ofthe guidance request, and consequently the change of the guidance speedmay be performed only at a predetermined timing (for example, a timingof passing through a predetermined location, a timing at which apredetermined time elapses).

Furthermore, for example, the recognition of the user dynamic data, theestimation of the guidance request, and consequently the change of theguidance speed may be performed only when, instead of the user dynamicdata, the environmental dynamic data is recognized sequentially andpredetermined environmental dynamic data is recognized (for example,when the degree of congestion becomes equal to or higher than apredetermined degree).

Furthermore, in the present embodiment, when it is determined that thearrival time in the case where the guidance speed is changed is notbefore the desired arrival time (in the case of NO in STEP 410 in FIG.13), when it is determined that the predicted emotional change is notpositive (in the case of NO in STEP 414 in FIG. 13), and when it isdetermined that the reaction after the notification is not a reactionindicating a permission (in the case of NO in STEP 417 in FIG. 13), theserver 3 ends the processing without performing the subsequentprocessing. This is to give priority to guiding the user to thedestination at the desired arrival time, and to give priority to adirect desire of the user.

However, the present invention is not limited to such a configuration.For example, when the recognized user dynamic data includes a directinstruction (for example, when the user instructs the robot to lead to apredetermined store), when the recognized environmental dynamic data hasa high degree of urgency (when an accident requiring evacuation occursnear the current location), or the like, the change of the guidancespeed may be executed without performing the determination on thearrival time and the determination on the emotional change.

Furthermore, in the present embodiment, the change of the guidance speedis performed by using the user dynamic data and the environmentaldynamic data the triggers. However, for example, the change of theguidance speed may be performed based on the user static data and theenvironmental static data.

For example, when it is estimated from the user static data (informationindicating user's clothes, belongings, or the like) that the user isinterested in a predetermined brand, the environmental static data maybe used to search for a store having an attribute of handling the brand(consequently, a store that the user likely wants to drop in), and theguidance speed may be made slower around the store such that the usercan get attracted to the store easily.

Furthermore, in the case of such a configuration, the priority may beset for each store according to the cost paid by the facility to themanager of the guidance area, or the like, and the guidance speed may bemade especially slower around a store with high priority such that theuser can get attracted to it.

Next, processing that the guidance system S performs when determiningthe target position immediately after the start of the guidance andprocessing that the guidance system S performs when changing the targetposition during the guidance will be described with reference to FIGS. 5and 14 to 18.

Here, “target position” represents a position serving as a target of therelative position of the robot 2 with respect to the user during theguidance. Furthermore, “relative position” may represent only a distancefrom the user to the robot or only a direction in which the robot islocated with respect to the user and also may represent a degree of achange in the relative position during turning or the like. However, thetarget position or the relative position in the following descriptionuses a distance from the user to the robot and a direction in which therobot is located with respect to the user.

Furthermore, here, “direction” represents a direction of the robot withrespect to the user in a plane parallel to movement surfaces of the userand the robot.

For example, as illustrated in FIG. 14, it represents, in the case wherethe user and the robot move on level ground, in a plan view, an angle θformed by a line passing through the center of the body of the user andextending in the front-rear direction (a line included in a sagittalplane, a first virtual line L1), and a line passing through a firstcenter C1 being the center of the body of the user and a second centerC2 being the center of the robot 2 (second virtual line L2) (that is, aslope of the second virtual line L2 with respect to the first virtualline L1).

FIG. 15 is a flowchart illustrating the processing that the server 3 ofthe guidance system S performs when determining the target positionimmediately after the start of the guidance. Furthermore, FIG. 17 is aflowchart illustrating, of the processing that the server 3 of theguidance system S performs when changing the target position during theguidance, processing until a content of the change of the targetposition is determined. Furthermore, FIG. 18 is a flowchartillustrating, of the processing that the server 3 of the guidance systemS performs when changing the target position during the guidance,processing until the change of the target position is executed.

First, the processing that the guidance system S performs whendetermining the target position immediately after the start of theguidance will be described.

In this processing, the user static data recognition unit 3 a 2 of thedata recognition unit 3 a of the server 3 first recognizes the userstatic data before the start of the guidance (STEP 501 in FIG. 15).

Specifically, similarly to the processing in STEP 101 in FIG. 7 and STEP301 in FIG. 11, the reception terminal 1 first recognizes informationinput by the user at the time of reception, information on the receptionterminal I that has accepted the reception, and the result of thequestionnaire to the user performed via the output unit of the receptionterminal 1, and transmits these pieces of information to the server 3.

Thereafter, the user static data recognition unit 3 a 2 acquires, of thetransmitted information from the reception terminal 1, information thatmay affect the determination of the target position, and recognizes theinformation as the user static data.

As the information that may affect the determination of the targetposition in this processing, for example, there may be mentionedinformation mainly on attributes of the user such as presence or absenceof physical (in particular, eyes, ears) disability, use or non-use of awheelchair, handedness, presence or absence of companion, pregnancystatus, and a past use history.

Next, the target position determination unit 3 f 3 of the guidanceaction determination unit 3 f of the server 3 determines a firstposition being the target position at the start of the guidance, basedon the recognized user static data (STEP 502 in FIG. 15).

In the present embodiment, as illustrated in FIG. 14, a position that isoutside a personal area of a user U, in front of the user U, and near aperipheral field-of-view area of a central field-of-view area of theuser U (that is, a position diagonally in front of the user U) is thefirst position. Here, a distance and direction (which of the left andright sides of the user it is located on) of the first position aredetermined depending on handedness of the user, presence or absence ofeye or ear disability of the user, and the like that are included in theuser static data.

The first position may be determined by referring to the evaluation datain addition to the user static data or, in the case where a past usehistory of the user is present, may use the target position in the pastuse history.

Next, the robot control unit 3 j of the server 3 issues to the robot 2an instruction for the guidance action (STEP 503 in FIG. 15).

Specifically, for example, the robot control unit 3 j transmits to therobot 2 an instruction for guiding the user along the guidance route atthe start of the guidance determined in the processing described withreference to FIG. 7 (the second route R2 of FIG. 8) or along the changedguidance route determined in the processing described with reference toFIGS. 9 and 10 (the third route R3 of FIG. 8), at the guidance speed atthe start of the guidance determined in the processing described withreference to FIG. 11 or at the changed guidance speed determined in theprocessing described with reference to FIGS. 12 and 13.

The robot 2 that has received the instruction moves to around the user(that is, the guidance start location P0) and then starts the guidance.In the present embodiment, the time point when the robot 2 starts tomove is the guidance start time point. Furthermore, after the start ofthe guidance, after the robot 2 once moves to the target positiondetermined based on the user static data, the relative position is notadjusted at this stage, and the robot 2 moves at a constant speed (forexample, the second speed determined in the processing described withreference to FIG. 11).

Next, the relative position recognition unit 3 b of the server 3recognizes the relative position of the robot 2 with respect to the user(STEP 504 in FIG. 15).

Specifically, the robot 2 first transmits to the server 3 data on animage of the user captured by the second camera 22 d of the robot 2.Thereafter, the relative position recognition unit 3 b recognizes, asthe relative position, the distance from the user to the robot and thedirection in which the robot is located with respect to the user, basedon the information transmitted to the server 3. This processing issequentially executed at a predetermined processing cycle after thestart of the guidance.

Next, the target position determination unit 3 f 3 of the guidanceaction determination unit 3 f of the server 3 recognizes a variationamount in the relative position (STEP 505 in FIG. 15).

Specifically, every time the relative position recognition unit 3 brecognizes the relative position, the target position determination unit3 f 3 calculates the variation amount in the distance and the directionin this recognition with respect to the distance and the direction inthe previous recognition and records the calculated variation amount intime series. As a result, regarding the variation amount, data as in agraph illustrated in FIG. 16 is obtained. In this graph, t indicates thetime, d indicates the relative distance, and Δd indicates the variationamount.

Next, the target position determination unit 3 f 3 determines whetherthe variation amount is equal to or less than a predetermined value(STEP 506 in FIG. 15).

This predetermined value may be optionally set by the system designer ofthe guidance system S or the like. For example, based on the user staticdata and the evaluation data, a value determined from an attribute ofthe user to be guided and a past guidance result may be set as thepredetermined value.

When it is determined that it exceeds the predetermined value (in thecase of NO in STEP 506 in FIG. 15), the processing returns to STEP 504,and the relative position recognition unit 3 b recognizes the relativeposition again.

On the other hand, when it is determined that it is equal to or lessthan the predetermined value (in the case of YES in STEP 506 in FIG.15), the target position determination unit 3 f 3 determines whetherremaining time until a first time elapses from when the user starts tomove after the robot 2 starts the guidance is equal to or more than asecond time (STEP 507 in FIG. 15).

The first time and the second time may be optionally set by the systemdesigner of the guidance system S or the like, as long as the first timeis longer than the second time. In the present embodiment, the firsttime is 60 seconds and indicated as T1 in the graph of FIG. 16.Furthermore, the second time is 15 seconds and indicated as T2 in thegraph illustrated in FIG. 16.

Furthermore, the start time point of the first time, which is theguidance start time point in the present embodiment, may be anydifferent time point that is after the guidance start time point. Forexample, the time point when the user starts to move may be the starttime point, or the time point when a predetermined time (for example, 10seconds) elapses from the start of the guidance may be the start timepoint.

This processing in STEP 507 determines whether, based on to denoting thetime point when the first period T1 ends, tb denoting the time pointwhen the second period T2 ends is an earlier time point or a later timepoint (that is, whether the second time ends during a reference positiondetermination period, which will be described later).

On the other hand, when it is determined that it is equal to or morethan the second time (in the case of YES in STEP 507 in FIG. 15), thetarget position determination unit 3 f 3 determines whether the timeduring which the variation amount in the state of being equal to or lessthan the predetermined value is maintained is equal to or more than thesecond time (STEP 508 in FIG. 15).

When it is determined that it is less than the second time (in the caseof NO in STEP 508 in FIG. 15), the processing returns to STEP 504, andthe relative position recognition unit 3 b recognizes the relativeposition again.

On the other hand, when it is determined that it is equal to or morethan the second time (in the case of YES in STEP 508 in FIG. 15), thetarget position determination unit 3 f 3 determines the target positionduring the guidance, based on the relative position during the secondtime (STEP 509 in FIG. 15).

Specifically, for example, the target position determination unit 3 f 3determines an average value of the relative position measured during thesecond time, as a second position being the target position during theguidance.

On the other hand, when it is determined that it is less than the secondtime (in the case of NO in STEP 507 in FIG. 15), the target positiondetermination unit 3 f 3 determines the target position a the start ofthe guidance as the target position during the guidance (STEP 510 inFIG. 15).

Specifically, the target position determination unit 3 f 3 determinesthe first position being the target position at the start of theguidance as the second position being the target position during theguidance.

Next, the robot control unit 3 j issues to the robot 2 an instructionfor the guidance action according to the determined target position andends this processing (STEP 511 in FIG. 15).

Specifically, for example, the robot control unit 3 j transmits to therobot 2 an instruction for moving the robot 2 such that the relativeposition becomes the determined target position.

Although in STEPs 501 to 511 above, the processing until the distanceincluded in the relative position is determined has been described, thedirection included in the relative position is also determined by thesimilar processing.

As described above, in the guidance system S, the target position isdetermined based on the relative position recognized when the userstarts to move after the robot 2 starts the guidance (that is, at thestart of the guidance). This is because the present inventor, as aresult of earnest studies, has obtained the finding that the targetposition is less stressful for the user.

Thus, according to the guidance system S, the position at which the useris less likely to feel stress is the target position, so that the usercan receive the guidance with less stress.

In the guidance system S, the period until the first time elapses fromwhen the user starts to move after the robot 2 starts the guidance isthe reference position determination period (in the graph of FIG. 16,the period from t=0 to t=tb).

Then, in the guidance system S, as illustrated as the processing inSTEPs 506 to 509, the relative position is sequentially recognizedduring the reference position determination period, and when, during thereference position determination period, the state where the variationamount (Δd) in the relative position is equal to or less than thepredetermined value is continued for equal to or more than the secondtime, the target position is determined based on the relative positionduring the second time.

This is because the walking start timing when the user starts to moveafter the robot 2 starts the guidance may differ depending on the sameuser. For example, in the case of missing the start of the guidance bythe robot 2, the walking start timing is delayed, as a matter of course.As a result, the relative position recognized at the start of theguidance may become different from the relative position considered tobe originally preferable.

Accordingly, as described above, in the case where the target positionis determined based on the relative position recognized during apredetermined period and the variation amount in the relative position,the influence of a change in such a walking start timing is suppressed,so that a suitable target position can be determined.

However, the present invention is not limited to such a configuration,and the target position may not be determined based on the positionrecognized during a predetermined period and the variation amount in therelative position. For example, the target position may be determinedbased on the relative position at a time point after elapse of apredetermined period from the timing at which the user starts to walk.

Next, the processing that the server 3 of the guidance system S performswhen changing the target position during the guidance will be described.

In this processing, the user dynamic data recognition unit 3 a 1 of thedata recognition unit 3 a of the server 3 first recognizes current userdynamic data (STEP 601 in FIG. 17).

Specifically, similarly to the processing in STEP 201 in FIG. 9 and STEP401 in FIG. 12, the user dynamic data recognition unit 3 a 1 recognizes,as the user dynamic data, a behavior of the user (for example, anexpression, movement of the line of sight) during the guidance,biological information (for example, a physical condition, a degree offatigue), and the like, based on the information transmitted from therobot 2.

Next, the environmental dynamic data recognition unit 3 a 3 of the datarecognition unit 3 a of the server 3 recognizes the environmentaldynamic data on the current location of the robot 2 (consequently, thecurrent location P2 of the user) (STEP 602 in FIG. 17).

Specifically, similarly to the processing in STEP 203 in FIG. 9 and STEP402 in FIG. 12, the environmental dynamic data recognition unit 3 a 3acquires, of the information transmitted from the robot 2, informationthat may affect the change of the target position, and recognizes theinformation as the environmental dynamic data.

As the information that may affect the change of the target position inthis processing, for example, there may be mentioned information on adegree of congestion in the vicinity of the user during the guidance, amagnitude of noise in the vicinity of the user, a size of a passage, anda traffic rule in the mute during the guidance.

This is because, for example, in the case where the vicinity of the useris congested, it is necessary to bring the robot 2 closer to the usersuch that the user does not lose sight of the robot 2.

Furthermore, this is because, for example, in the case where noise inthe vicinity of the user is large, it is necessary to approach the usersuch that a voice of the user can be easily acquired or such that asound from the robot 2 can be easily conveyed to the user.

Furthermore, this is because, for example, in the case where the size ofthe passage is narrow, it is difficult to cause the robot 2 to belocated at a position diagonally in front of the user, and thus it isnecessary to move the robot 2 to the front side of the user.

Furthermore, this is because, for example, in a place where, forexample, a stop is required as a traffic rule, it is preferable that therobot 2 is located next to the user so as not to interfere with the userwhen the movement resumes.

Next, the user dynamic data recognition unit 3 a 1 determines whetherthe recognized user dynamic data is predetermined user dynamic data setin advance (STEP 603 in FIG. 17).

Specifically, similarly to the processing in STEP 202 in FIG. 9 and STEP403 in FIG. 12, the system designer or the like sets in advance the userdynamic data that should be used as a trigger of the change of theguidance content, and the user dynamic data recognition unit 3 a 1determines whether the recognized user dynamic data corresponds to thepredetermined user dynamic data set in advance.

As the predetermined user dynamic data, for example, there may bementioned information indicating that the line of sight of the user hasmoved to look for something or is focusing on some point, informationindicating that the movement direction or movement speed of the user ischanged, and information indicating that the user has uttered a voicethat conveys a request (for example, want to come nearer).

When it is determined that it is not the predetermined user dynamic data(in the case of NO in STEP 603 in FIG. 17), the environmental dynamicdata recognition unit 3 a 3 determines whether the recognizedenvironmental dynamic data is predetermined environmental dynamic dataset in advance (STEP 604 in FIG. 17).

Specifically, similarly to the processing in STEP 404 in FIG. 12, thesystem designer or the like sets in advance the environmental dynamicdata that should be used as a trigger of the change of the guidancecontent, and the environmental dynamic data recognition unit 3 a 3determines whether the recognized environmental dynamic data correspondsto the predetermined environmental dynamic data set in advance.

As such environmental dynamic data, for example, there may be mentionedinformation indicating a degree of congestion, unscheduled construction,and an event such as a sudden accident.

When it is determined that it is not the predetermined environmentaldynamic data (in the case of NO in STEP 604 in FIG. 17), the server 3executes the processing of STEPs 601 to 604 again.

On the other hand, when it is determined that it is the predetermineduser dynamic data (in the case of YES in STEP 603 in FIG. 17), or whenit is determined that it is the predetermined environmental dynamic data(in the case of YES in STEP 604 in FIG. 17), the guidance requestestimation unit 3 c of the server 3 recognizes the request estimationdata based on the recognized user static data (STEP 605 in FIG. 17).

Specifically, similarly to the processing in STEP 105 in FIG. 7, STEP205 in FIG. 9, STEP 305 in FIG. 11, and STEP 405 in FIG. 12, theguidance request estimation unit 3 c, based on the data indicating theattribute of the user recognized from the user static data recognizedbefore the start of the guidance (the user static data recognized inSTEP 501 in FIG. 15), acquires from the request estimation data storageunit 3 d the request estimation data associated with an attribute sameas or relating to the attribute.

Next, the guidance request estimation unit 3 c estimates the guidancerequest of the user at the current time point, based on the recognizeduser dynamic data, environmental dynamic data, and request estimationdata (STEP 606 in FIG. 17).

Specifically, the guidance request estimation unit 3 c first estimatesthe guidance request of the user (for example, the user wants the robot2 to come nearer because it is congested), based on the user dynamicdata (an expression, movement of the line of sight, and the like) andthe environmental dynamic data (for example, a degree of congestion ofthe current location).

Thereafter, similarly to the processing in STEP 106 in FIG. 7, STEP 206in FIG. 9, STEP 306 in FIG. 11, and STEP 406 in FIG. 12, the guidancerequest estimation unit 3 c refers to the request estimation data, andestablishes the estimated guidance request as the guidance request ofthe user or estimates the guidance request of the user again.

Next, the target position determination unit 3 f 3 of the guidanceaction determination unit 3 f of the server 3 determines the content ofthe change of the target position, based on the estimated guidancerequest (STEP 607 in FIG. 17).

Specifically, the target position determination unit 3 f 3 determinesthe content of the change of the target position, according to a ruleset in advance by the system designer or the like.

As the rule, for example, there may be mentioned one in which, accordingto highness or lowness of the degree of congestion, the distance isadjusted (for example, the robot 2 is brought closer to the user as thedegree of congestion is higher) and the direction is adjusted (forexample, the robot 2 is located in front of the user as the degree ofcongestion is higher).

Furthermore, for example, there may be mentioned one in which in thecase where noise in the vicinity of the user is large, the robot 2 ismoved so as to bring the second microphone 22 b or second speaker 22 cof the robot 2, or the like closer to the user such that a voice of theuser can be easily acquired or such that a sound from the robot 2 can beeasily conveyed to the user.

Furthermore, for example, there may be mentioned one in which in thecase where the size of the passage is narrower than a predeterminedsize, it is difficult to cause the robot 2 to be located at a positiondiagonally in front of the user, and thus the robot 2 is moved to thefront side of the user.

Furthermore, for example, there may be mentioned one in which, in aplace where, for example, a stop is required as a traffic rule, therobot 2 is moved to next to the user so as not to interfere with theuser when the movement resumes.

Next, the target position determination unit 3 f 3 recognizes theevaluation data from the evaluation data storage unit 3 l based on therecognized user static data (STEP 608 in FIG. 18).

Specifically, similarly to the processing in STEP 212 in FIG. 10 andSTEP 411 in FIG. 13, the target position determination unit 3 f 3, basedon the data indicating the attribute of the user recognized from theuser static data recognized before the start of the guidance (the userstatic data recognized in STEP 501 in FIG. 15), acquires from theevaluation data storage unit 3 l the evaluation data associated with anattribute same as or relating to the attribute.

Next, the target position determination unit 3 f 3, based on theevaluation data, recognizes a change in the emotion of the user that ispredicted in the case where the target position is changed (STEP 609 inFIG. 18).

Specifically, similarly to the processing in STEP 213 in FIG. 10 andSTEP 412 in FIG. 13, the target position determination unit 3 f 3, basedon a motion of the robot 2 scheduled to be performed for this guidancerequest (for example, movement for the change of the target position),recognizes the evaluation data associated with the motion and recognizesthe change in the emotion included in the evaluation data.

Next, the target position determination unit 3 f 3 determines whetherthe predicted emotional change is positive (STEP 610 in FIG. 18).

When it is determined that it is not positive (in the case of NO in STEP610 in FIG. 18), the server 3 ends this processing without performingthe subsequent processing.

On the other hand, when it is determined that it is positive (in thecase of YES in STEP 610 in FIG. 18), the notification instruction unit 3h of the server 3 instructs the robot 2 to notify of the content of thechange (STEP 611 in FIG. 18).

Specifically, for example, in the case of processing relating to thechange of the target position, the notification instruction unit 3 hfirst instructs the robot 2 to notify of information on the change ofthe target position such as the fact that the target position is to bechanged, and the reason for changing the target position (that is, theestimated guidance request), and inquiry information for inquiring aboutnecessity of the change of the target position.

Thereafter, the robot 2 that has received this instruction performs thenotification via the second touch panel 22 a and the second speaker 22 cthat serve as the output unit.

Next, the user dynamic data recognition unit 3 a 1 recognizes the userdynamic data. after the notification of the inquiry information (STEP612 in FIG. 18).

Specifically, similarly to the processing in STEP 216 in FIG. 9 and STEP415 in FIG. 13, the user dynamic data recognition unit 3 a 1 recognizes,as the user dynamic data, a behavior of the user after the notificationof the inquiry information, and the like, based on the informationtransmitted from the robot 2.

Next, the reaction recognition unit 3 i of the server 3 recognizes areaction of the user, based on the user dynamic data recognized afterthe notification of the inquiry information (STEP 613 in FIG. 18).

Specifically, similarly to the processing in STEP 217 in FIG. 9 and STEP416 in FIG. 13, for example, the reaction recognition unit 3 irecognizes the reaction of the user (specifically, whether the change ofthe target position is permitted), depending on whether the user dynamicdata recognized after the notification corresponds to the behavior setin advance.

Next, the target position determination unit 3 f 3 determines whetherthe reaction recognized by the reaction recognition unit 3 i is areaction that permits the change of the target position (STEP 614 inFIG. 18).

When it is determined that it is not a reaction that permits the changeof the target position (in the case of NO in STEP 614 in FIG. 18), theserver 3 ends this processing without performing the subsequentprocessing.

On the other hand, when it is determined that it is a reaction thatpermits the change of the target position (in the case of YES in STEP614 in FIG. 18), the target position determination unit 3 f 3establishes the change of the target position, and the robot controlunit 3 j of the server 3 issues to the robot 2 an instruction for theguidance action according to the changed target position (STEP 615 inFIG. 18).

Specifically, the robot control unit 3 j transmits to the robot 2 aninstruction for moving to the changed target position.

Last, the guidance request estimation unit 3 c associates, with theestimated guidance request, the user dynamic data used at the time ofthe estimation of this guidance request (that is, the user dynamic datarecognized in STEP 601 in FIG. 17), the environmental dynamic data (thatis, the environmental dynamic data recognized in STEP 602 in FIG. 17),and the user static data, stores them in the request estimation datastorage unit 3 d, and ends this processing (STEP 616 in FIG. 18).

In the server 3 configured as described above, during the guidance(specifically, during the period from the start of the guidance to theend of the guidance), the target position is changed based on theestimated guidance request of the user. That is, the target position ischanged based on not only a request clearly expressed by the user butalso a request that the user potentially has.

As a result, the target position becomes suitable for the guidancerequest of the user. For example, discomfort due to congestion is takeninto consideration.

Thus, according to the guidance system S comprising this server 3 andthe guide robot control method using the same, the target positioncorresponds to the guidance request of the user, and the change of thetarget position is performed while respecting the user's intention, sothat the user can receive the guidance with less stress.

In the processing for the change of the target position in the presentembodiment, the user dynamic data is detected sequentially, and theguidance request is accordingly estimated again to perform the change ofthe target position. This is to sequentially grasp the guidance requestof the user that changes from moment to moment so as to suitably changethe target position.

However, the present invention is not limited to such a configuration.For example, the recognition of the user dynamic data, the estimation ofthe guidance request, and consequently the change of the target positionmay be performed only at a predetermined timing (for example, a timingof passing through a predetermined location, a timing at which apredetermined time elapses).

Furthermore, for example, the recognition of the user dynamic data, theestimation of the guidance request, and consequently the change of thetarget position may be performed only when, instead of the user dynamicdata, the environmental dynamic data is recognized sequentially andpredetermined environmental dynamic data is recognized (for example,when the degree of congestion becomes equal to or higher than apredetermined degree).

Furthermore, in the present embodiment, the target position at the startof the guidance is determined by referring to a variation in therelative position during the reference position determination period.

However, the present invention is not limited to such a configuration.For example, instead of the reference position determination period, areference position determination section (for example, a section fromthe guidance start location to the first turn) may be set, and thetarget position at the start of the guidance may be determined byreferring to a variation in the relative position during movement in thesection.

Furthermore, in the present embodiment, when it is determined that theemotional change that is predicted in the case where the target positionis changed is not positive (in the case of NO in STEP 610 in FIG. 18),and when it is determined that the reaction after the notification isnot a reaction indicating a permission (in the case of NO in STEP 614 inFIG. 18), the server 3 ends the processing without performing thesubsequent processing. This is to give priority to guiding the user tothe destination at the desired arrival time, and to give priority to adirect desire of the user.

However, the present invention is not limited to such a configuration.For example, when the recognized user dynamic data includes a directinstruction (for example, when the robot is instructed to be locatednearer), or the like, the change of the target position may be executedwithout performing the determination on the emotional change.

Furthermore, in the present embodiment, the determination of the targetposition is performed when movement on the guidance route is started.However, the present invention is not limited to such a configuration.For example, when the user drops in any of facilities during theguidance, the target position determined and changed until the facilityis reached may be used continuously, while the determination of thetarget position may be performed again at the time point when themovement is resumed from the facility.

Furthermore, in the present embodiment, when the user dynamic datacorresponds to the predetermined user dynamic data, or when theenvironmental dynamic data corresponds to the predeterminedenvironmental dynamic data, the change of the to get position during theguidance is performed.

However, the present invention is not limited to such a configuration,and the change of the target position during the guidance may beperformed by referring to the environmental static data. For example, inthe case of moving through a narrow passage, the target position may bechanged to in front of the front side of the user, not diagonally infront of the user. In the case of performing the change, it ispreferable to notify in advance that the change is to be performed.

Next, processing that the guidance system S performs when estimatingevaluation of the user will be described with reference to FIGS. 5, 6,19, and 20.

FIG. 19 is a flowchart illustrating the processing that the server 3 ofthe guidance system S performs when estimating the evaluation.

In this processing, the user static data recognition unit 3 a 2 of thedata recognition unit 3 a of the server 3 first recognizes the userstatic data before the start of the guidance (STEP 701 in FIG. 19).

Specifically, similarly to the processing in STEP 101 in FIG. 7, STEP301 in FIG. 11, and STEP 501 in FIG. 15, the reception terminal 1 firstrecognizes information input by the user at the time of reception,information on the reception terminal 1 that has accepted the reception,and the result of the questionnaire to the user performed via the outputunit of the reception terminal 1, and transmits these pieces ofinformation to the server 3.

Thereafter, the user static data recognition unit 3 a 2 acquires, theinformation transmitted from the reception terminal 1, information onattributes of the user, and recognizes the information as the userstatic data. As the attributes of the user in this processing, forexample, there may be mentioned age, gender, and desired arrival time.

Next, the user dynamic data recognition unit 3 a 1 of the datarecognition unit 3 a of the server 3 recognizes the user dynamic databefore the start of the guidance (STEP 702 in FIG. 19).

Specifically, similarly to the processing in STEP 104 in FIG. 7, theuser dynamic data recognition unit 3 a 1 recognizes, as the user dynamicdata, a behavior of the user at the start of the guidance, biologicalinformation (for example, a physical condition, a degree of fatigue),and the like, based on the information transmitted from the receptionterminal 1.

Next, the emotion estimation unit 3 k of the server 3 estimates areference emotion based on the recognized user dynamic data before thestart of the guidance (STEP 703 in FIG. 19).

Specifically, for example, the emotion estimation unit 3 k firstestimates which of the areas of the Plutchik emotion model M illustratedin FIG. 6 the emotion of the user at the time of reception belongs to,based on the recognized user dynamic data before the start of theguidance. Then, the area is used as the reference emotion. Furthermore,at this time, the area to which the reference emotion belongs is set to0, and the emotion estimation unit 3 k sets a score for each of theother areas.

Next, the robot control unit 3 j of the server 3 issues to the robot 2an instruction for the guidance action (STEP 704 in FIG. 19).

Specifically, for example, the robot control unit 3 j transmits to therobot 2 an instruction for guiding the user along the guidance route atthe start of the guidance determined in the processing described withreference to FIG. 7 (the second route R2 of FIG. 8) or along the changedguidance route determined in the processing described with reference toFIGS. 9 and 10 (the third route R3 of FIG. 8), at the guidance speed atthe start of the guidance determined in the processing described withreference to FIG. 11 or at the changed guidance speed determined in theprocessing described with reference to FIGS. 12 and 13, with the targetposition determined in the processing described with reference to FIG.15 or the changed target position determined in the processing describedwith reference to FIGS. 17 and 18 as the target position of the relativeposition.

The robot 2 that has received the instruction moves to around the user(that is, the guidance start location P0) and then starts the guidance.In the present embodiment, the location point within a predeterminedrange with its center as the user and to which the robot 2 has moved soas to be located in front of the user is the guidance start locationpoint.

Next, the user dynamic data recognition unit 3 a 1 recognizes currentuser dynamic data (STEP 705 in FIG. 19).

Specifically, similarly to the processing in STEP 201 in FIG. 9, STEP401 in FIG. 12, and STEP 601 in FIG. 17, the user dynamic datarecognition unit 3 a 1 recognizes, as the user dynamic data, a behaviorof the user during the guidance (for example, an expression, movement ofthe line of sight), biological information (for example, a physicalcondition, a degree of fatigue), and the like, based on the informationtransmitted from the robot 2.

Next, the user dynamic data recognition unit 3 a 1 determines whetherthe recognized current user dynamic data is predetermined user dynamicdata set in advance (STEP 706 in FIG. 19).

Specifically, similarly to the processing in STEP 202 in FIG. 9, STEP403 in FIG. 12, and STEP 603 in FIG. 17, the system designer or the likesets in advance the user dynamic data that should be used as a triggerof the change of the guidance content, and the user dynamic datarecognition unit 3 a 1 determines whether the recognized user dynamicdata corresponds to the predetermined user dynamic data set in advance.

As the predetermined user dynamic data, for example, there may bementioned information indicating that the line of sight of the user hasmoved to look for something or is focusing on some point, informationindicating that the movement direction or movement speed of the user ischanged, and information indicating that the user has uttered a voicethat conveys a request.

Next, the emotion estimation unit 3 k determines whether a currentmotion of the robot 2 is a predetermined motion set in advance (STEP 707in FIG. 19).

Specifically, the system designer or the like sets in advance a motionof the robot 2 that should be used as a trigger of the change of theguidance content, and the emotion estimation unit 3 k recognizes amotion of the robot 2 based on a signal from the robot 2 and determineswhether the recognized motion corresponds to the predetermined motionset in advance.

The predetermined motion includes, for example, change of the guidanceroute, the guidance speed, or the target position, and a motionintentionally performed by the robot 2 such as notification associatedtherewith. Furthermore, the predetermined motion also includes, forexample, in the case where the robot 2 performs a humanlike motion in apseudo manner, a motion corresponding to a bow, and the like.

Furthermore, the predetermined motion also includes a motionunintentionally performed by the robot 2. Specifically, it also includesa motion in which the robot 2 has become too close to the user or toofar from the user according to a change in the movement speed of theuser or the like.

When it is determined that it is not the predetermined motion (in thecase of NO in STEP 707 in FIG. 19), the server 3 executes the processingof STEPs 705 to 707 again.

On the other hand, when it is determined that it is the predetermineduser dynamic data (in the case of YES in STEP 706 in FIG. 19), or whenit is determined that it is the predetermined motion (in the case of YESin STEP 707 in FIG. 19), the emotion estimation unit 3 k estimates acurrent emotion based on the current user dynamic data (STEP 708 in FIG.19).

Specifically, for example, similarly to the processing in STEP 703 inFIG. 19, the emotion estimation unit 3 k estimates which of the areas ofthe Plutchik emotion model M illustrated in FIG. 6 the current emotionof the user belongs to (that is, the current emotion itself), based onthe recognized current user dynamic data.

Furthermore, the eight areas of the emotion model M are classified aseither positive or negative. Accordingly, by estimating which of theareas the estimated current emotion belongs to, it is also estimatedwhether the current emotion is positive or negative.

Furthermore, in the emotion model M, based on the reference emotion, ascore is set according to the area and the degree. The emotionestimation unit 3 k, after estimating the current emotion, recognizes avariation in the score to thereby also recognize a change in the currentemotion with respect to the reference emotion.

Then, the emotion estimation unit 3 k recognizes, as the currentemotion, not only the current emotion itself but also the one includingwhether the current emotion is positive or negative and the change inthe current emotion with respect to the reference emotion.

Next, the environmental dynamic data recognition unit 3 a 3 of the datarecognition unit 3 a of the server 3 recognizes the environmentaldynamic data on the current location of the robot 2 (consequently, thecurrent location P2 of the user) (STEP 709 in FIG. 19).

Specifically, similarly to the processing in STEP 203 in FIG. 9, STEP402 in FIG. 12, and STEP 602 in FIG. 17, it is recognized as theenvironmental dynamic data by the environmental dynamic data recognitionunit 3 a 3 based on the information transmitted from the robot 2.

Next, the emotion estimation unit 3 k stores in the evaluation datastorage unit 3 l the evaluation data on the current emotion, the userstatic data, and the environmental dynamic data on the current location(STEP 710 in FIG. 19).

Specifically, the emotion estimation unit 3 k first associates, with thecurrent emotion estimated by this processing, a motion of the robot 2perforated immediately before the current user dynamic data used as atrigger of the emotion estimation (the user dynamic data used as adetermination target in STEP 706 in FIG. 19) is recognized or the motionof the robot 2 used as a trigger of the emotion estimation (the motionused as a determination target in STEP 707 in FIG. 19), and uses them asthe evaluation data on the current emotion.

Thereafter, the emotion estimation unit 3 k associates, with theevaluation data, the user static data recognized in STEP 701 in FIG. 19and the environmental dynamic data on the current location recognized inSTEP 709 in FIG. 19.

Then, the emotion estimation unit 3 k stores these pieces of evaluationdata in the evaluation data storage unit 3 l in time series(specifically, in association with a time at which the emotionestimation is performed). As a result, regarding the evaluation data,data as in a graph illustrated in FIG. 20 is obtained.

In this graph, the reference emotion is 0, an emotion more positive thanthe reference emotion is plus, and an emotion more negative than thereference emotion is minus. Furthermore, in this graph, each of t1, t2,t3, t4, and t5 is a time at which the current user dynamic data used asa trigger of the emotion estimation is recognized or a time at which themotion of the robot 2 used as a trigger of the emotion estimation isperformed.

For example, in the present embodiment, time of t1 is a time at which amotion indicating the start of the guidance is performed, time of eachof t2, t3, and t4 is a time at which the user performs a behavior or thelike corresponding to the predetermined user dynamic data or a time atwhich the robot 2 performs the predetermined motion based on theestimated guidance request, and time of t5 is a time at which at the endof the guidance, the robot 2 performs a motion indicating the end of theguidance.

Next, the emotion estimation unit 3 k determines whether the guidancehas ended (STEP 711 in FIG. 19).

Specifically, for example, the emotion estimation unit 3 k determineswhether the guidance has ended by determining whether the destination isreached or whether the robot 2 has performed a motion indicating the endof the guidance (for example, a hand waving motion after making a bow).

When it is determined that it has not ended (in the case of NO in STEP711 in FIG. 19), the server 3 executes the processing of STEPs 705 to711 again.

On the other hand, when it is determined that it has ended (in the caseof YES in STEP 711 in FIG. 19), the emotion estimation unit 3 k storesin the evaluation data storage unit 3 l the evaluation data on theentire guidance and the user static data (STEP 712 in FIG. 19).

Specifically, the emotion estimation unit 3 k first creates a graph asillustrated in FIG. 20 based on the evaluation data from the start ofthe guidance to the end of the guidance, and the emotion estimation unit3 k calculates an integral value based on the graph. Thereafter, theemotion estimation unit 3 k uses, as the evaluation data, the integralvalue, contents of the guidance (for example, in addition to theguidance route, the guidance speed, and the target position, theenvironmental dynamic data recognized during the guidance), and all ofthe motions of the robot 2 during the guidance. Then, the emotionestimation unit 3 k associates, with the evaluation data, the userstatic data recognized in STEP 701 in FIG. 19 and stores them in theevaluation data storage unit 3 l.

In the server 3 configured as described above, the motion of the robot 2associated with the current emotion of the user estimated based on thebehavior of the user at the time of the motion (that is, the userdynamic data) is collected as the evaluation data.

As a result, the collected evaluation data clearly indicates a relevancebetween the motion of the robot 2 and a change in the emotion of theuser (that is, satisfaction), compared with data based on aquestionnaire result performed after the end of the guidance, or thelike.

Thus, according to the guidance system S comprising this server 3 andthe guide robot control method using the same, it is possible to collectevaluation data effective for grasping user's satisfaction with respectto a motion of the robot 2 with high accuracy. Consequently, a motion ofthe robot 2 is set with reference to the evaluation data, so that theuser can receive the guidance with less stress.

In the present embodiment, the reference emotion estimation of theemotion estimation unit 3 k is performed at the start of the guidance.This is to use the emotion at the start of the guidance as the referenceemotion to thereby precisely grasp an emotion with respect to a motionof the robot during the guidance.

However, the emotion estimation unit of the present invention is notlimited to such a configuration, and the reference emotion may be set ata timing other than the start of the guidance, or may be set at aplurality of times, not only once. For example, in the case where theuser drops in a predetermined facility during the guidance, thereference emotion may be estimated every time the guidance is resumedfrom the facility. As a result, an influence on the emotion due to anevent that has occurred in the facility can be suppressed.

In the present embodiment, a reference emotion is estimated, and basedon the reference emotion, a change in the current emotion is recognized.This is because an emotion serving as a reference is set, so that achange in the emotion of the user with respect to each motion of therobot 2 (as a result of the motion, whether it becomes favorable orworse, or the like) is grasped more precisely.

However, the present invention is not limited to such a configuration.For example, a change in emotion with respect to an immediatelypreceding emotion (that is, simply a change in emotion at each moment)may be recognized without using the reference emotion.

Furthermore, in the present embodiment, the emotion estimation unit 3 k,at the end of the guidance, includes, in the evaluation data on theentire guidance, the integral value of the change in the current emotionas a change in the emotion with respect to the entire guidance, andstores them in the evaluation data storage unit 3 l. This is to graspnot only individual motions of the robot 2 but also evaluation for theentire guidance.

However, the present invention is not limited to such a configuration.For example, the current emotion at the end of the guidance itself or aresult of comparison between the current emotion at the end of theguidance and the reference emotion may be used as the change in theemotion with respect to the entire guidance. Furthermore, the change inthe emotion with respect to the entire guidance may not be included inthe evaluation data.

Although the embodiment illustrated in the drawings has been describedabove, the present invention is not limited to such an embodiment.

For example, in the embodiment, determination of a guidance route, aguidance speed, and a target position is performed according to anestimated guidance request. However, the guidance action of the presentinvention is not limited to this and may also include other motions thatthe robot performs during the guidance.

For example, it may also include contents of services provided via therobot such as music delivered by the robot during the guidance and acontent of advertisement presented by the robot, in addition to motionsof the robot itself such as sound, sound effect, and signal sound of therobot at the time of the guidance, type, sound emission frequency, andsound volume of music delivered from the robot at the time of theguidance, and motion patterns of the robot (for example, moving in acurved manner, moving in a linear manner).

REFERENCE SIGNS LIST

1: reception terminal, 1 a: first touch panel, 1 b: keyboard, 1 c: firstmicrophone, 1 d: first speaker, 1 e: first camera, 2: robot, 3: server(guide robot control device), 3 a: data recognition unit, 3 a 1: userdynamic data recognition unit, 3 a 2: user static data recognition unit,3 a 3: environmental dynamic data recognition unit, 3 a 4: environmentalstatic data recognition unit, 3 b: relative position recognition unit, 3c: guidance request estimation unit, 3 d: request estimation datastorage unit, 3 e: map storage unit, 3 f: guidance action determinationunit, 3 f 1: route determination unit, 3 f 2: guidance speeddetermination unit, 3 f 3: target position determination unit, 3 g:priority storage unit, 3 h: notification instruction unit, 3 i: reactionrecognition unit, 3 j: robot control unit, 3 k: emotion estimation unit,3 l: evaluation data storage unit, 4: monitoring system, 20: lower base,20 a: first actuator, 20 b: second actuator, 20 c: third actuator, 21:moving motion unit, 21 a: core body, 21 b: 22: upper base, 22 a: secondtouch panel, 22 b: second microphone, 22 c: second speaker, 22 d: secondcamera, 23: control device, 24: communication device, 25: accelerationsensor, 26: position sensor, A1: first area. A2: second area, A3: thirdarea, A4: fourth area, A5: fifth area, A6: sixth area, A7: seventh area,A8: eighth area, C1: first center, C2: second center, L1: first virtualline, L2: second virtual line, M: emotion model, P0: guidance startlocation, P1: destination, P2: current location, P3: event venue, P4:store, R1: first route, R2: second route, R3: third route, S: guidancesystem, U: user

1. A guide robot control device for controlling a robot configured tomove with a user and guide the user to a destination, the devicecomprising: a robot control unit configured to control a motion of therobot; a user dynamic data recognition unit configured to, at aplurality of time points during guidance, recognize user dynamic datawhich is information on the user, the information changing over time; anemotion estimation unit configured to estimate a current emotion whichis a current emotion of the user at the plurality of time points, basedon the user dynamic data, and generate evaluation data which is data inwhich a motion of the robot at a time of guiding the user and thecurrent emotion of the user are associated with each other; and anevaluation data storage unit configured to store the generatedevaluation data in time series.
 2. The guide robot control deviceaccording to claim 1, comprising an environmental dynamic datarecognition unit configured to recognize environmental dynamic datawhich is information on a guidance area, the information changing overtime, wherein the evaluation data storage unit is configured to storethe evaluation data associated with the environmental dynamic data whichis information on a guidance area, the information changing over time.3. The guide robot control device according to claim 1, wherein the userdynamic data recognition unit is configured to determine whether theuser dynamic data corresponds to predetermined user dynamic data, andthe emotion estimation unit is configured to, in a case where it isdetermined that the user dynamic data is the predetermined user dynamicdata, estimate the current emotion of the user.
 4. The guide robotcontrol device according to claim 1, wherein the emotion estimation unitis configured to, in a case where the robot performs a predeterminedmotion, estimate the current emotion of the user.
 5. The guide robotcontrol device according to claim 1, wherein the emotion estimation unitis configured to estimate, based on the user dynamic data, a referenceemotion which is an emotion of the user, the emotion of the user servingas a reference, and the evaluation data storage unit is configured tostore the evaluation data associated with a change in the currentemotion with respect to the reference emotion of the user.
 6. The guiderobot control device according to claim 5, wherein the emotionestimation unit is configured to estimate the reference emotion based onthe user dynamic data at start of the guidance.
 7. The guide robotcontrol device according to claim 1, wherein the evaluation data storageunit is configured to store the current emotion of the user at end ofthe guidance.
 8. The guide robot control device according to claim 1,wherein the emotion estimation unit is configured to estimate, based onthe user dynamic data at start of the guidance, a reference emotionwhich is an emotion of the user, the emotion of the user serving as areference, and the evaluation data storage unit is configured to store achange in the current emotion with respect to the reference emotion ofthe user at end of the guidance.
 9. A guidance system comprising: arobot configured to move with a user and guide the user to adestination; and the guide robot control device according to claim 1.10. A guide robot control method for controlling a robot configured tomove with a user and guide the user to a destination, the methodcomprising: a step in which a robot control unit controls a motion ofthe robot; a step in which a user dynamic data recognition unitrecognizes, at a plurality of time points during guidance, user dynamicdata which is information on the user, the information changing overtime; a step in which an emotion estimation unit estimates a currentemotion which is a current emotion of the user at the plurality of timepoints, based on the user dynamic data; a step in which the emotionestimation unit generates evaluation data which is data in which amotion of the robot at a time of guiding the user and the currentemotion of the user are associated with each other; and a step in whichan evaluation data storage unit stores the generated evaluation data intime series.